CN207404477U - A kind of convertible double-station material gripping device - Google Patents
A kind of convertible double-station material gripping device Download PDFInfo
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- CN207404477U CN207404477U CN201721365364.5U CN201721365364U CN207404477U CN 207404477 U CN207404477 U CN 207404477U CN 201721365364 U CN201721365364 U CN 201721365364U CN 207404477 U CN207404477 U CN 207404477U
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- detection
- clamping jaw
- clamping
- shell
- fixed
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Abstract
The utility model discloses a kind of convertible double-station material gripping devices, it includes two clamping units for being fixed on the connecting plate of manipulator movable end, being fixed on the connecting plate, and the clamping unit includes clamping jaw cylinder, by clamping jaw cylinder driving open and two sliding seat of closed action, the rotary cylinder being fixed in the sliding seat, the clamping jaw rotated by rotary cylinder driving.The utility model can automatically grip product and realize 180 ° of overturnings, and use double-station clamping jaw, and one is used to take the product after having operated away, another cooperation is put into product to be operated, substantially increases production efficiency.
Description
Technical field
The utility model is related to a kind of clamp device, more particularly to a kind of convertible double-station material gripping device.
Background technology
Turbine is the fan in the engine of automobile or aircraft, fuel vapour is blown into engine by using exhaust gas, to carry
The performance of high engine.Turbine is a kind of rotary power machinery that the energy of flow working medium is converted to mechanical work.Turbine case
It docks what is formed generally by two housings, stud is carried on the housing of half, through hole is carried on the other half housing, passes through
Stud nut docks two housings to form the entire housing of turbine.Turbine shroud after punching press or die cast, in numerical control plus
Work center is finished, and is finally packed again after appearance and size detects.Outside half due to carrying stud in turbine case
Shell when being detected, it is necessary to by the shell with stud one down, therefore, needed after turbine case is gripped to its into
180 ° of overturnings of row, in the prior art, using artificial loading, efficiency is low.
Therefore, it is necessary to a kind of convertible double-station material gripping device is provided to solve the above problems.
Utility model content
The main purpose of the utility model is that a kind of convertible double-station material gripping device is provided, it can be automatically right
Product is gripped and realizes 180 ° of overturnings, and uses double-station clamping jaw, and one is used to take the product after having operated away, separately
One cooperation is put into product to be operated, substantially increases production efficiency.
The utility model is achieved through the following technical solutions above-mentioned purpose：A kind of convertible double-station material gripping device,
It includes two clamping units for being fixed on the connecting plate of manipulator movable end, being fixed on the connecting plate, the clamping
Unit include clamping jaw cylinder, by clamping jaw cylinder driving open with two sliding seat of closed action, be fixed on it is described
Rotary cylinder in sliding seat, the clamping jaw rotated by rotary cylinder driving.
Further, in the clamping unit, the rotary cylinder is both provided in two sliding seat, described in two
Clamping jaw is clamped the jaw shaped from product both sides in a pair on the movable end of rotary cylinder.
Compared with prior art, a kind of advantageous effect of convertible double-station material gripping device of the utility model is：
Automatically product can be gripped and realize 180 ° of overturnings, and use double-station clamping jaw, one has operated for taking away
Product after good, another cooperation are put into product to be operated, substantially increase production efficiency.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model embodiment；
Fig. 2 is double-deck supply unit and the structure diagram of angle adjusting in the utility model embodiment；
Fig. 3 is the structure diagram of angle adjusting in the utility model embodiment；
Fig. 4 is another angled arrangement schematic diagram of angle adjusting in the utility model embodiment；
Fig. 5 is the structure diagram of double fastener jaw arrangement in the utility model embodiment；
Fig. 6 is the structure diagram of first detection unit and second detection unit in the utility model embodiment；
Digital representation in figure：
100 turbine case automatic checkout systems；
1 double-deck supply unit, 11 first supply units, 12 second supply units；13 retention devices；
2 angle adjustings, 21 movable plates, 22 angular adjustment actuators, 23 first actuators, 24 support plates, 241 first
Support plate, 242 second support plates, 243 set squares, 244 the 3rd support plates, 25V type guide plates, 26 first sensors, 27 second sensors,
28 3rd sensors, 29 first leads, 210 guide grooves；
3 first detection machines；4 second detection machines；5 finished product pipelines；
6 first detection units, 61 detection plummers, 62 first camera arrangements, 63 second camera arrangements, 64 thrust cylinders；7
Defective products pipeline；
8 robots, 81 clamping jaw cylinders, 82 sliding seat, 83 rotary cylinders, 84 clamping jaws；
9 digital control processing units；10 second detection units, 101 jacking cylinders, 102 supporting plates, 103 third shots shine device.
Specific embodiment
Embodiment：
Fig. 1-Fig. 6 is refer to, the present embodiment is turbine case automatic checkout system 100, and the turbine case includes first
Housing, the second shell with first shell cooperation, the detecting system include double-deck supply unit 1, are conveyed positioned at bilayer
The angle adjusting 2 of 1 end of unit, the first detection machine 3 positioned at double-deck 1 end both sides of supply unit and the second detection machine 4,
Convey finished product pipeline 5, the first detection unit 6 positioned at finished product pipeline 5 front end, the conveying substandard product of qualified products
Defective products pipeline 7 and the robot 8 carried to turbine case, there are two divide for the front end setting of double-deck supply unit 1
The digital control processing unit 9 that other two shells to turbine are machined out.
Fig. 2 is refer to, double-deck supply unit 1 is included described in the first supply unit 11 for conveying the first shell and conveying
Second supply unit 12 of second shell.First supply unit 11 is located at the top of the second supply unit 12.Angle adjusting 2
It is arranged on the end of the second supply unit 12.The end of first supply unit 11 and the second supply unit 12, which is both provided with, stops whirlpool
The retention device 13 that hub cap advances.
Refer to Fig. 2-Fig. 4, angle adjusting 2 include the movable plate 21 that one end is hinged on the second supply unit 12,
It adjusts the angular adjustment actuator 22 at 21 other end angle of inclination of movable plate, be fixed on the first actuator of 21 lower surface of movable plate
23rd, the support plate moved back and forth positioned at 21 upper surface afterbody of movable plate and by 23 drives edge product conveying direction of the first actuator
24.The upper surface both sides of movable plate 21 are provided with V-type guide plate 25, and support plate 24 includes stopping first that turbine case is advanced
Plate 241 and the second support plate 242 vertically disposed with the first support plate 241 and positioned at 241 top of the first support plate, the second support plate
242 middle parts are provided with the set square 243 extended towards turbine shroud direction, and 243 both sides of set square, which are symmetrically arranged with, is fixed on second
First sensor 26 and second sensor 27 on support plate 242, support plate 24, which further includes, is fixed on 23 movable end of the first actuator
The 3rd support plate 244, the middle part of the 3rd support plate 244 be provided with detection turbine shroud whether 3rd sensor 28 in place.
Hingedly it is provided with the first lead 29 in the middle part of 21 lower surface of movable plate, the other end of the first lead 29 is connected with the
Two leads（It is not shown in figure）, the other end of the second lead is hinged in a fixed seat, the first lead 29 and described the
Mutually interspersed guide groove 210 is both provided in two leads, the first lead 29 is inserted into the guiding in second lead
In slot 210, second lead is inserted into the guide groove 210 in the first lead 29.
The movable end of angular adjustment actuator 22 is fixedly connected with movable plate 21, and the other end is hinged in a fixed seat.
Due to one of shell in turbine case（That is second housing）Upper setting places it in the there are four stud
When being detected in two detection machines 4, it is necessary to after the second housing is overturn 180 °, four studs are correspondingly placed into four and are determined
In the hole of position, therefore, angle adjusting 2 is mainly used for the second housing rotating position corresponding with location hole to four studs
It puts.When second housing is entered from the second supply unit 12 in movable plate 21, angular adjustment actuator 22 is by movable plate 21
Tail end retracts downwards, adjust movable plate 21 angle so that movable plate 21 it is inclined；At this point, second housing is in gravity
The lower slide downward of effect in order to reduce impact force when second housing slides, prevents that the stud in second housing is damaged, the
During two shells slide, the first actuator 23 driving support plate 24 is met to second housing, forms the buffering to second housing
Effect；After the first support plate 241 in support plate 24 is connected to second housing, the first actuator 23 driving support plate 24 is transported downwards
It is dynamic；Under the center of gravity gravitation and Gravitative Loads of second housing, second housing spinning under the guiding role of V-type guide plate 25,
Until first sensor 26 and second sensor 27 detect that stud is relied on 242 side of the second support plate in place.In second housing
During landing, it is possible to which two studs for occurring being located on diagonal are exactly on same vertical curve, at this time outside second
The center of gravity of shell is just also on this vertical curve, then when the first support plate 241 catches second housing and moves downwardly together, second
Shell will not spinning, therefore, the generation of this phenomenon in order to prevent, the middle part of the second support plate 242 be provided with set square
243, the vertex of set square 243 can head on stud, and second housing is by the vertex as supporting point at this time, then second housing can not
It stands firm and spinning occurs, finally or the state relied on 242 side of the second support plate can be rotated to two studs.So as to complete
To the angle regulation function of second housing.
Fig. 1, Fig. 5 are refer to, robot 8 includes the double fastener jaw arrangement positioned at movable end, and the double fastener jaw arrangement includes two
A clamping unit, the clamping unit include clamping jaw cylinder 81, are carried out opening two with closed action by the driving of clamping jaw cylinder 81
A sliding seat 82, the rotary cylinder 83 being fixed in sliding seat 82 are driven the clamping jaw 84 rotated by rotary cylinder 83.Clamping jaw
84 be a C-shaped configuration, is wrapped in the periphery of shell, and shell is realized and is clamped.
First shell A is carried to 3 position of the first detection machine by a clamping unit in robot 8 first, another folder
It holds unit to pick up the first shell B that detection finishes, then the first shell A is placed in the first detection machine 3 and is detected, then
The front end that first shell B is placed to finished product pipeline 5 carries out iron pin height detection or is placed on defective products pipeline 7 to transport；
Robot 8 returns to original position, and one of clamping unit crawl second housing A is carried to 4 position of the second detection machine, another clamping
Unit picks up the second housing B that detection finishes, then second housing A is placed in the second detection machine 4 and is detected, and then will
Second housing B, which is placed in first detection unit 6, to carry out iron pin height detection or is placed on defective products pipeline 7 to transport.
Fig. 6 is refer to, first detection unit 6 includes the detection plummer 61 docked with finished product pipeline 5, held positioned at detection
First camera arrangement 62 of 61 side of microscope carrier, positioned at detection plummer 61 lower section the second camera arrangement 63, by product push-in into
Thrust cylinder 64 on product pipeline 5.The head end position of finished product pipeline 5 is provided with second detection unit 10, and the second detection is single
Member 10 include being located at the jacking cylinder 101 of the lower section of finished product pipeline 5, the supporting plate 102 to be moved up and down by the driving of jacking cylinder 101,
Third shot in front of 102 side of supporting plate shines device 103.After first shell carries out appearance and size detection in the first detection machine 3
Iron pin height detection is carried out in second detection unit 10 again, jacking cylinder 101 holds up the first shell upwards, and third shot is according to dress
It puts 103 pair of first shell and carries out detection of taking pictures, detection OK jacking cylinders 101, which decline, allows the first shell by the way that detection NG etc. is standby
Device people 8 is grabbed on defective products line.After second housing carries out appearance and size detection in the second detection machine 4, then in the first detection
Iron pin height detection is carried out on unit 6, detection OK thrusts cylinder 64 shifts second housing on finished product pipeline 5 onto, detection NG etc.
Treat that robot 8 is grabbed on defective products pipeline 7.
The present embodiment is that the operation principle of turbine case automatic checkout system 100 is：Operating personnel will be in digital control processing list
First shell and second shell after being processed in member 9 are placed in respectively on the first supply unit 11 and the second supply unit 12；
Second shell adjusts the crawl that angle waits robot 8 in the second supply unit end, by angle adjusting 2；Machine
People 8 captures first shell and is detected to the first detection machine 3, while the first shell detected is put into second detection unit
10 carry out iron pin height detection；Robot 8 captures second shell and appearance and size detection is carried out to the second detection machine 4, simultaneously will
The second shell detected is put into progress iron pin height detection in first detection unit 6；The first shell of OK is detected in jacking gas
The effect of cylinder 101 is fallen to be carried away on finished product pipeline 5；The second shell for detecting OK is pushed into finished product conveying by thrust cylinder 64
It is carried away on line 5；The first shell and second shell for detecting NG are grabbed by robot 8 and are carried away on defective products pipeline, from
And complete the automatic detection, automatic blanking, automatic transporting action of two housings of turbine so that detection work becomes automatically mistake
Journey substantially increases detection efficiency, reduces labor intensity, and operator becomes 1 people from 3 original people, greatly reduces people
Power cost.
Above-described is only some embodiments of the utility model.For those of ordinary skill in the art,
On the premise of not departing from the utility model and creating design, various modifications and improvements can be made, these belong to this practicality
New protection domain.
Claims (2)
1. a kind of convertible double-station material gripping device, it is characterised in that：It includes a company for being fixed on manipulator movable end
Fishplate bar, two clamping units being fixed on the connecting plate, the clamping unit include clamping jaw cylinder, by the clamping jaw cylinder
Driving open with two sliding seat of closed action, the rotary cylinder being fixed in the sliding seat, by the rotary pneumatic
The clamping jaw that cylinder driving is rotated.
2. convertible double-station material gripping device as described in claim 1, it is characterised in that：In the clamping unit, two
It is both provided with the rotary cylinder in a sliding seat, the jaw shaped is in a pair on the movable end of two rotary cylinders
Clamping jaw is clamped from product both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721365364.5U CN207404477U (en) | 2017-10-23 | 2017-10-23 | A kind of convertible double-station material gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721365364.5U CN207404477U (en) | 2017-10-23 | 2017-10-23 | A kind of convertible double-station material gripping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207404477U true CN207404477U (en) | 2018-05-25 |
Family
ID=62320865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721365364.5U Expired - Fee Related CN207404477U (en) | 2017-10-23 | 2017-10-23 | A kind of convertible double-station material gripping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207404477U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111112985A (en) * | 2020-01-21 | 2020-05-08 | 汪涛 | Automatic assembling equipment for power-assisted ball of steering wheel |
-
2017
- 2017-10-23 CN CN201721365364.5U patent/CN207404477U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111112985A (en) * | 2020-01-21 | 2020-05-08 | 汪涛 | Automatic assembling equipment for power-assisted ball of steering wheel |
| CN111112985B (en) * | 2020-01-21 | 2022-02-15 | 重庆智能机器人研究院 | Automatic assembling equipment for power-assisted ball of steering wheel |
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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: 20180525 Termination date: 20211023 |