CN206662646U - Pneumatic gripping device and robot automatic loading/unloading nut rolling system - Google Patents
Pneumatic gripping device and robot automatic loading/unloading nut rolling system Download PDFInfo
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- CN206662646U CN206662646U CN201720401782.9U CN201720401782U CN206662646U CN 206662646 U CN206662646 U CN 206662646U CN 201720401782 U CN201720401782 U CN 201720401782U CN 206662646 U CN206662646 U CN 206662646U
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- handgrip
- supporter
- pneumatic gripping
- gripping device
- chuck
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Abstract
The utility model provides a kind of pneumatic gripping device and robot automatic loading/unloading nut rolling system,It is related to field of machining,Including support,Supporter,Feed handgrip and discharging handgrip,Supporter is connected by rotating shaft with support and can rotated around the axis,The axis for feeding handgrip and discharging handgrip is orthogonal,And it is provided with grabbing device and drive device,Drive device is connected with grabbing device and drives grabbing device to carry out grasping movement,Grabbing device includes chuck and claw,Chuck is arranged on supporter,Claw is arranged on chuck and can moved along a straight line along the center of circle of chuck to circumferencial direction,Various sizes of workpiece is captured,Pneumatic gripping device provided by the utility model,By setting charging handgrip and discharging handgrip in mutually perpendicular orientation,Improve the efficiency of grabbing workpiece,Robot automatic loading/unloading nut provided by the utility model rolls system,Pass through efficient crawl of the pneumatic gripping device to workpiece,Improve the operating efficiency of loading and unloading.
Description
Technical field
Field of machining is the utility model is related to, more particularly, to a kind of pneumatic gripping device and robot automatic loading/unloading spiral shell
Female rolling system.
Background technology
With industrial expansion and production, each side of transportation and field of machining to parts such as bolts
It is required that more and more higher, especially intensity and precision.The bolt of high intensity is increasingly used in industrial different neck
Among domain, because in the construction of bolt, the intersection of bolt head and shank of bolt is the stress concentration point of bolt, therefore is being used
When, the intersection of bolt head and shank of bolt is easiest to that fatigue fracture occurs, and the part for causing bolt to be fixed occurs to loosen and make
Into loss even accident, the fatigue strength that improve bolt is needed to use to the progress fillet rolling of the intersection of bolt head and shank of bolt
The technological means of pressure, fatigue strength is improved by this cold rolling technology, prevents bolt fatigue fracture.
Fillet rolling operator precedence rolls fillet using special fillet rolling machine to bolt, at present existing circle on the market
Angle roller press uses manual operation loading and unloading, not only efficiency is low, and accuracy is difficult to handle mostly due to technology imperfection
Control, easily causes the problem of uniformity of product is poor, and defect rate is high, artificial loading and unloading are wasted time and energy, and long-term work can also cause
Damage to worker's body, it is difficult to meet the high processing project of some technical requirements.
Utility model content
In order to solve at least one technical problem present in above-mentioned prior art, the purpose of this utility model is to provide
A kind of pneumatic gripping device and robot automatic loading/unloading nut rolls system, with solve grasp speed present in prior art it is slow,
The low technical problem of artificial loading and unloading efficiency.
Pneumatic gripping device provided by the utility model, including support, supporter and the charging that is arranged on the supporter are grabbed
Hand and discharging handgrip, wherein,
The axis of the charging handgrip and the discharging handgrip is orthogonal；
The supporter is connected with the support by rotating shaft；
The charging handgrip and the discharging handgrip include grabbing device and the driving being arranged on the grabbing device
Device；
Three cards that the grabbing device includes the chuck interconnected with the supporter and is arranged on the chuck
Pawl, three claws can move along a straight line along the center of circle of the chuck to circumferencial direction.
It should be noted that charging handgrip and discharging handgrip are orthogonal, carried out by the rotation transformation position of supporter
Operation of feeding and discharging.
In the above-mentioned technical solutions, further, the claw includes connector and shackle member, and the connector is inlaid into
In the chuck, the shackle member is connected with the connector and stretches out the chuck.
In the technical scheme, claw is arranged to two parts, and shackle member is connected by connector with chuck, passes through connector
The radius size of linear motion regulation clamping is done to circumferencial direction in the center of circle of chuck.
In any of the above-described technical scheme, further, the drive device is arranged to cylinder, the cylinder and the card
The connector of pawl is connected and the claw can be promoted to move.
In the technical scheme, cylinder and connector are connected with chuck, and Telescopic-cylinder promotes connector motion, drives
Grasping movement integrally occurs for claw.
In any of the above-described technical scheme, further, the shackle member has the Access Division of clamping bolt, the clamping
The shape in portion matches with bolt head.
In the technical scheme, Access Division is arranged on the part that shackle member stretches out chuck, and three Access Divisions are oppositely arranged shape
Into space with clamping bolt, and Access Division vertically on length be more than folded bolt bolt head thickness.
In any of the above-described technical scheme, further, skid resistant course is provided with the Access Division.
In the technical scheme, the skid resistant course on Access Division is arranged to frosting or does annular knurl processing.
In any of the above-described technical scheme, further, the supporter is shaped to triangular prism, and the support
The cross section of body is arranged to isosceles right triangle, and the charging handgrip and the discharging handgrip are separately positioned on the supporter
In mutually perpendicular two planes.
In the technical scheme, supporter is connected with support and can rotated, and charging handgrip is set with discharging handgrip
Put in two right-angle surfaces and be fixedly connected with supporter.
The utility model additionally provides a kind of robot automatic loading/unloading nut rolling system, including above-mentioned pneumatic grabs
Hand.
In any of the above-described technical scheme, further, in addition to base, mechanical arm and it is connected with the mechanical arm
The numerical control device connect, the mechanical arm are connected with the pneumatic gripping device and the pneumatic gripping device can be driven to operate.
In the technical scheme, operation of feeding and discharging is completed in the motion of the gentle dynamic handgrip of numerical control device control machinery arm.
In any of the above-described technical scheme, further, the mechanical arm includes first to be connected with the base
Arm and the second arm being hinged with first arm, the one end of second arm away from first arm and the branch
Frame is connected.
In the technical scheme, the first arm can roll over around the base rotation, the second arm around first.
In any of the above-described technical scheme, further, the one side that the support is connected with second arm is set
There are multiple contiguous blocks, the support is detachably connected by the contiguous block and the mechanical arm.
In the technical scheme, contiguous block is at least provided with three.
In summary, pneumatic gripping device provided by the utility model, including support, supporter, charging handgrip and discharging handgrip,
Supporter is connected with support by rotating shaft, and supporter can rotate around the axis, and the axis for feeding handgrip and discharging handgrip is mutual
It is perpendicular, station is changed by supporter Rotary Variable and carries out operation of feeding and discharging, after discharging handgrip captures the workpiece processed, charging
Handgrip is put into new workpiece to be processed, and such setting ensure that charging and two processes of discharging are non-interference, and vertical sets
Put mode and the working method continuously run improves the operating efficiencies of loading and unloading；Charging handgrip and discharging handgrip are provided with and grabbed
Device and drive device are taken, drive device is connected with grabbing device and drives grabbing device to carry out grasping movement, grabbing device
Including chuck and claw, chuck is arranged on supporter, and claw is arranged on chuck and can be along the center of circle of chuck to circumference side
To moving along a straight line, so as to be captured to various sizes of workpiece, pneumatic gripping device provided by the utility model, by mutual
Charging handgrip and discharging handgrip are set in vertical orientation, improve the efficiency of grabbing workpiece.
Robot automatic loading/unloading nut provided by the utility model rolls system, including provided by the utility model pneumatic
Handgrip, by effective crawl of the pneumatic gripping device to workpiece, the process of loading and unloading is realized, improves the operating efficiency of loading and unloading.
Additional aspect and advantage of the present utility model will become obvious in following description section, or new by this practicality
The practice of type is recognized.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation for the pneumatic gripping device that the utility model embodiment provides；
Fig. 2 is the left view for the pneumatic gripping device that the utility model embodiment provides；
Fig. 3 is the front view for the pneumatic gripping device that the utility model embodiment provides；
Fig. 4 is the part-structure signal that the robot automatic loading/unloading nut that the utility model embodiment provides rolls system
Figure.
Icon：1- supports；2- supporters；3- grabbing devices；4- drive devices；The arms of 5- first；6- second-hand
Arm；7- bases；31- chucks；32- claws；321- connectors；322- shackle members；3221- Access Divisions.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is the utility model part of the embodiment, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
As shown in Figures 1 to 4, the pneumatic gripping device that the present embodiment provides, including support 1, supporter 2 and it is arranged on the branch
Charging handgrip and discharging handgrip on support body 2, wherein,
The axis of the charging handgrip and the discharging handgrip is orthogonal；
The supporter 2 is connected with the support 1 by rotating shaft；
The charging handgrip and the discharging handgrip include grabbing device 3 and the drive being arranged on the grabbing device 3
Dynamic device 4；
The grabbing device 3 includes the chuck 31 interconnected with the supporter 2 and is arranged on the chuck 31
Three claws 32, three claws 32 can move along a straight line along the center of circle of the chuck 31 to circumferencial direction.
The pneumatic gripping device that embodiment of the present utility model provides, including support 1, supporter 2, charging handgrip and discharging are grabbed
Hand, feeds handgrip and discharging handgrip is orthogonal, carries out operation of feeding and discharging by the rotation transformation position of supporter 2, charging is grabbed
Hand and the mutually perpendicular setting of discharging handgrip ensure that the non-interference of feeding process and discharge process, improve loading and unloading entirety
The efficiency of work, grabbing device 3 includes chuck 31 and claw 32, and claw 32 is connected with chuck 31, and drive device 4 is arranged on
On grabbing device 3 and claw 32 can be driven to move along a straight line, be captured three open and close movements of claw 32.
In one embodiment of utility model, further, the claw 32 includes connector 321 and shackle member 322,
The connector 321 is inlaid into the chuck 31, and the shackle member 322 is connected with the connector 321 and stretched out described
Chuck 31.
In this embodiment, claw 32 is arranged to two parts, and shackle member 322 is connected by connector 321 with chuck 31, leads to
Cross the radius size that connector 321 does linear motion regulation clamping in the center of circle of chuck 31 to circumferencial direction, shackle member 322 and company
The setting of fitting 321 ensure that the reliability that claw 32 works.
In one embodiment of utility model, further, the drive device 4 is arranged to cylinder, the cylinder with
The connector 321 of the claw 32 is connected and the claw 32 can be promoted to move.
In this embodiment, cylinder and connector 321 are connected with chuck 31, and Telescopic-cylinder promotes connector 321 to transport
It is dynamic, drive claw 32 is overall grasping movement occurs, drive device 4, which is arranged to cylinder, makes handgrip compact overall structure.
In one embodiment of utility model, further, the shackle member 322 has the Access Division of clamping bolt
3221, the shape of the Access Division 3221 matches with bolt head.
In this embodiment, Access Division 3221 is arranged on the part that shackle member 322 stretches out chuck 31, three Access Divisions 3221
Be oppositely arranged to form space with clamping bolt, and Access Division 3221 vertically on length be more than the bolt head of folded bolt
Thickness, such design enables shackle member 322 to clamp bolt, prevents bolt from being dropped in way is transported.
In one embodiment of utility model, further, skid resistant course is provided with the Access Division 3221.
In this embodiment, the skid resistant course on Access Division 3221 is arranged to frosting or does annular knurl processing, and skid resistant course is set
Put and increase Access Division 3221 and by the frictional force between folder bolt, prevent bolt from sliding.
In one embodiment of utility model, further, the supporter 2 is shaped to triangular prism, and institute
The cross section for stating supporter 2 is arranged to isosceles right triangle, and the charging handgrip and the discharging handgrip are separately positioned on institute
State in 2 mutually perpendicular two planes of supporter.
In this embodiment, supporter 2 is connected with support 1 and can rotated, and charging handgrip is set with discharging handgrip
Put in two right-angle surfaces and be fixedly connected with supporter 2.
In one embodiment of the present utility model, a kind of robot automatic loading/unloading nut rolling system is additionally provided,
Including above-mentioned pneumatic gripping device.
In one embodiment of utility model, further, in addition to base 7, mechanical arm and with the manipulator
The numerical control device that arm is connected, the mechanical arm are connected with the pneumatic gripping device and the pneumatic gripping device can be driven to transport
Turn.
In this embodiment, operation of feeding and discharging is completed in the motion of the gentle dynamic handgrip of numerical control device control machinery arm, is solved
Determine conventional the problem of manually operation of feeding and discharging is inconvenient, efficiency is low, while improved the accuracy of processing.
In one embodiment of utility model, further, the mechanical arm includes what is be connected with the base 7
First arm 5 and with first arm 5 be hinged the second arm 6, second arm 6 away from first arm 5 one
End is connected with the support 1.
In this embodiment, the first arm 5 can rotate around the base 7, and the second arm 6 can be 5 turns around the first arm
It is dynamic.
In one embodiment of utility model, further, the support 1 be connected with second arm 6 one
Face is provided with multiple contiguous blocks, and the support 1 is detachably connected by the contiguous block and the mechanical arm.
In this embodiment, for contiguous block at least provided with three, the mode being detachably connected is easy to follow-up maintenance and portion
The replacing of part.
As shown in Figures 1 to 4, in a specific embodiment of the present utility model, pneumatic gripping device includes support 1, support
Body 2, charging handgrip and discharging handgrip, supporter 2 are connected with support 1 by rotating shaft, and supporter 2 can rotate around the axis, and enter
Expect that the axis of handgrip and discharging handgrip is orthogonal, changing station by the Rotary Variable of supporter 2 carries out operation of feeding and discharging, charging
After handgrip crawl workpiece to be processed, it is moved at work pieces process, the workpiece that the crawl of discharging handgrip processes, charging handgrip will be to be added
Work workpiece is put into, and is circulated successively, and such setting ensure that charging and two processes of discharging are non-interference, and vertical setting side
Formula and the working method continuously run improve the operating efficiency of loading and unloading, during specific crawl, feed handgrip and unload
Material handgrip is provided with grabbing device 3 and drive device 4, and drive device 4 is connected with grabbing device 3 and drives grabbing device 3
Grasping movement is carried out, grabbing device 3 includes chuck 31 and claw 32, and chuck 31 is arranged on supporter 2, and claw 32 is arranged on card
It can be moved along a straight line along the center of circle of chuck 31 on disk 31 and to circumferencial direction, so as to be captured to various sizes of workpiece,
Pneumatic gripping device provided by the utility model, by setting charging handgrip and discharging handgrip and claw in mutually perpendicular orientation
Connector 321 and shackle member 322 in 32, improve the efficiency of grabbing workpiece.
In another specific embodiment of the present utility model, robot automatic loading/unloading nut rolling system includes pneumatic
Handgrip, base 7 and the first arm 5 being connected with pneumatic gripping device, the second arm 6 being connected with the first arm 5, the first arm
5 rotate around base 7, and the second arm 6 rotates around the first arm 5, and pneumatic gripping device, the first arm 5 and the second arm 6 are and numerical control
Device is connected, and under the control of numerical control device, the transport completed to grabbing workpiece is rotated by respective.
In summary, pneumatic gripping device provided by the utility model, including support, supporter, charging handgrip and discharging handgrip,
Supporter is connected with support by rotating shaft, and supporter can rotate around the axis, and the axis for feeding handgrip and discharging handgrip is mutual
It is perpendicular, station is changed by supporter Rotary Variable and carries out operation of feeding and discharging, after discharging handgrip captures the workpiece processed, charging
Handgrip is put into new workpiece to be processed, and such setting ensure that charging and two processes of discharging are non-interference, and vertical sets
Put mode and the working method continuously run improves the operating efficiencies of loading and unloading；Charging handgrip and discharging handgrip are provided with and grabbed
Device and drive device are taken, drive device is connected with grabbing device and drives grabbing device to carry out grasping movement, grabbing device
Including chuck and claw, chuck is arranged on supporter, and claw is arranged on chuck and can be along the center of circle of chuck to circumference side
To moving along a straight line, so as to be captured to various sizes of workpiece, pneumatic gripping device provided by the utility model, by mutual
Charging handgrip and discharging handgrip are set in vertical orientation, improve the efficiency of grabbing workpiece.
Robot automatic loading/unloading nut provided by the utility model rolls system, including provided by the utility model pneumatic
Handgrip, by effective crawl of the pneumatic gripping device to workpiece, the process of loading and unloading is realized, improves the operating efficiency of loading and unloading.
Finally it should be noted that：Various embodiments above is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the utility model is described in detail with reference to foregoing embodiments, one of ordinary skill in the art should
Understand：It can still modify to the technical scheme described in foregoing embodiments, either to which part or whole
Technical characteristic carries out equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from this practicality newly
The scope of each embodiment technical scheme of type.
Claims (10)
- A kind of 1. pneumatic gripping device, it is characterised in that including support, supporter and the charging handgrip being arranged on the supporter and Discharging handgrip, wherein,The axis of the charging handgrip and the discharging handgrip is orthogonal；The supporter is connected with the support by rotating shaft；The charging handgrip and the discharging handgrip include grabbing device and the drive device being arranged on the grabbing device；The grabbing device includes the chuck interconnected with the supporter and three claws being arranged on the chuck, and three The individual claw can move along a straight line along the center of circle of the chuck to circumferencial direction.
- 2. pneumatic gripping device according to claim 1, it is characterised in thatThe claw includes connector and shackle member, and the connector is inlaid into the chuck, the shackle member and the company Fitting is connected and stretches out the chuck.
- 3. pneumatic gripping device according to claim 2, it is characterised in thatThe drive device is arranged to cylinder, and the cylinder is connected with the connector of the claw and can promoted described Claw moves.
- 4. pneumatic gripping device according to claim 2, it is characterised in thatThe shackle member has the Access Division of clamping bolt, and shape and the bolt head of the Access Division match.
- 5. pneumatic gripping device according to claim 4, it is characterised in thatSkid resistant course is provided with the Access Division.
- 6. pneumatic gripping device according to claim 1, it is characterised in thatThe supporter is shaped to triangular prism, and the cross section of the supporter is arranged to isosceles right triangle, institute State charging handgrip and the discharging handgrip is separately positioned in mutually perpendicular two planes of the supporter.
- 7. a kind of robot automatic loading/unloading nut rolls system, it is characterised in that including such as any one of claim 1 to 6 Described pneumatic gripping device.
- 8. robot automatic loading/unloading nut according to claim 7 rolls system, it is characterised in that also including base, Mechanical arm and the numerical control device being connected with the mechanical arm, the mechanical arm is connected with the pneumatic gripping device and energy The pneumatic gripping device is enough driven to operate.
- 9. robot automatic loading/unloading nut according to claim 8 rolls system, it is characterised in thatThe mechanical arm includes the first arm being connected with the base and the second arm being hinged with first arm, The one end of second arm away from first arm is connected with the support.
- 10. robot automatic loading/unloading nut according to claim 9 rolls system, it is characterised in thatThe support is provided with multiple contiguous blocks with the one side that second arm is connected, and the support passes through the contiguous block It is detachably connected with the mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720401782.9U CN206662646U (en) | 2017-04-17 | 2017-04-17 | Pneumatic gripping device and robot automatic loading/unloading nut rolling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720401782.9U CN206662646U (en) | 2017-04-17 | 2017-04-17 | Pneumatic gripping device and robot automatic loading/unloading nut rolling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206662646U true CN206662646U (en) | 2017-11-24 |
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ID=60381862
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720401782.9U Expired - Fee Related CN206662646U (en) | 2017-04-17 | 2017-04-17 | Pneumatic gripping device and robot automatic loading/unloading nut rolling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206662646U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108723758A (en) * | 2018-07-02 | 2018-11-02 | 珠海市英诚电子科技有限公司 | Make nut machine |
| CN112079119A (en) * | 2020-08-20 | 2020-12-15 | 常州机电职业技术学院 | Magnetic clamping feeding manipulator |
| CN116175256A (en) * | 2023-04-04 | 2023-05-30 | 杭州纳志机器人科技有限公司 | Automatic positioning method for loading and unloading of trolley type robot |
-
2017
- 2017-04-17 CN CN201720401782.9U patent/CN206662646U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108723758A (en) * | 2018-07-02 | 2018-11-02 | 珠海市英诚电子科技有限公司 | Make nut machine |
| CN108723758B (en) * | 2018-07-02 | 2024-01-12 | 珠海市英诚电子科技有限公司 | Nut beating machine |
| CN112079119A (en) * | 2020-08-20 | 2020-12-15 | 常州机电职业技术学院 | Magnetic clamping feeding manipulator |
| CN116175256A (en) * | 2023-04-04 | 2023-05-30 | 杭州纳志机器人科技有限公司 | Automatic positioning method for loading and unloading of trolley type robot |
| CN116175256B (en) * | 2023-04-04 | 2024-04-30 | 杭州纳志机器人科技有限公司 | Automatic positioning method for loading and unloading of trolley type robot |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20171124 |