CN208246821U - A kind of variable-station robot charge gripper - Google Patents
A kind of variable-station robot charge gripper Download PDFInfo
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- CN208246821U CN208246821U CN201820624267.1U CN201820624267U CN208246821U CN 208246821 U CN208246821 U CN 208246821U CN 201820624267 U CN201820624267 U CN 201820624267U CN 208246821 U CN208246821 U CN 208246821U
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- mounting plate
- inserts
- bearing spider
- pneumatic clamper
- gear
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Abstract
The utility model discloses a kind of variable-station robot charge grippers, comprising: including fixed mechanism, station mapping device, indexing clamping device and inserts clamping device, wherein flange connecting plate；Rotation angle mechanism mounting plate and cylinder mounting plate are set on flange connecting plate；The cylinder that moves along a straight line is set on cylinder mounting plate；Rack gear slide slot is set on rotation angle mechanism mounting plate；Rack gear is set on rack gear slide slot, and one end of rack gear is connected with the piston rod of linear motion cylinder；Removable bearing spider and bearing spider are set on rotation angle mechanism mounting plate；Dress key shaft is rotatably connected with removable bearing spider, and shaft is rotatably connected with bearing spider, fills and is fixed with gear in key shaft, wheel and rack is meshed；The both ends of pneumatic clamper mounting blocks are connected with dress key shaft and shaft respectively.The utility model realizes the station variation of robot charge gripper by a straight line cylinder and gear drive, and pattern is compact, and structure is simple, and cost is reduced.
Description
Technical field
The utility model relates to the technical field of robot hand more particularly to a kind of robot charge grippers.
Background technique
In auto parts and components thermoset forming industry, robot application is more and more extensive, while auto parts and components are heat-set into
The various technologies of type production line also tend to mature.Typical auto parts and components thermoset forming production line generally comprises robot, note
Molding machine, deburring system, destatics system, dust collecting system, blanking transmission line, security protection system at robot charge gripper
And electric-control system etc..The general flow of auto parts and components thermoset forming is that inserts is put by robot charge gripper in robot
Enter in injection molding machine, after injection molding machine thermoset forming is molded by the model comprising inserts, robot passes through loading and unloading gripper for moulding
Grab deburring station carry out deburring operation, while destatic system and dust collecting system work, remove moulding electrostatic and
The burr of polishing later exports the good moulding of final process by blanking transmission line.
General robot charge gripper need to meet the operation of feeding and discharging of inserts and moulding and the polishing of moulding and
Blanking operation.When general robot charge, it will be completed at the same time the upper material process of the feeding and inserts of moulding, will be reduced in this way
Robot enters the number of injection molding machine, to reduce the time, improves work pace.When moulding polishing and blanking operate, machine
People's loading and unloading gripper crawl moulding carries out sanding burr, destatics and blanking.General loading and unloading gripper is being molded to meet
Operation of feeding and discharging is carried out in machine, structure is mostly L-type structure, and when polishing deburring operation, structure is mostly I type structure, works as machine
Device people's loading and unloading gripper cannot meet loading and unloading and polishing when requiring simultaneously, be designed to hand-off structure more, lead to structure and control
Complexity, pattern is not compact enough, and has used the devices such as multi cylinder and valve, and cost becomes higher.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of variable-station robot charge grippers.
To achieve the goals above, the technical solution that the utility model is taken are as follows:
A kind of variable-station robot charge gripper, wherein including fixed mechanism, station mapping device, indexing folder
Hold mechanism and inserts clamping device, wherein the fixed mechanism includes: flange connecting plate；Rotation angle mechanism mounting plate and cylinder peace
Loading board, the rotation angle mechanism mounting plate and the cylinder mounting plate are arranged on the flange connecting plate, and the corner machine
Structure mounting plate and the cylinder mounting plate are perpendicular；The station mapping device includes: linear motion cylinder, the linear motion
The side of the cylinder mounting plate is arranged in cylinder；Rack gear slide slot, the rack gear slide slot setting are pacified in the rotation angle mechanism
In loading board；Rack gear, the rack gear are arranged on the rack gear slide slot, one end of the rack gear and the linear motion cylinder
Piston rod is connected；Removable bearing spider and bearing spider, the removable bearing spider and the bearing spider are arranged at institute
State the other end of the rotation angle mechanism mounting plate relative to the flange connecting plate, the removable bearing spider and the bearing spider phase
Face；Dress key shaft and shaft, the dress key shaft are rotatably connected with the removable bearing spider, the shaft and the axis
It holds support to be rotatably connected, is fixed with gear in the dress key shaft, the gear is meshed with the rack gear；Pneumatic clamper installation
Block, the both ends of the pneumatic clamper mounting blocks are connected with the dress key shaft and the shaft respectively；The indexing clamping device
It include: indexing pneumatic clamper, the indexing pneumatic clamper is arranged on the pneumatic clamper mounting blocks；Indexing finger, the indexing hand
Finger is mounted in the indexing pneumatic clamper, is clamped with injection-molded work on the indexing finger；The inserts clamping device includes:
Inserts pneumatic clamper, the inserts pneumatic clamper are mounted on the other side of the cylinder mounting plate；Inserts finger, the inserts finger mounted exist
In the inserts pneumatic clamper, inserts is clamped on the inserts finger.
Above-mentioned variable-station robot charge gripper, wherein the station mapping device further include: right angle is extremely kept off,
The right angle, which is extremely kept off, to be fixed on the rotation angle mechanism mounting plate, and the dead gear in right angle is in the one of the removable bearing spider
Side；Dead gear, the dead gear are fixed on the rotation angle mechanism mounting plate by flush end holding screw, and the dead gear is in the axis
The side of support is held, the dead gear and the right angle, which are extremely kept off, to be faced.
Above-mentioned variable-station robot charge gripper, wherein be provided on the flange connecting plate connecting flange and
Binding plate.
Above-mentioned variable-station robot charge gripper, wherein the dress key shaft and the rotation angle mechanism mounting plate
Between be equipped with spring bearing.
Above-mentioned variable-station robot charge gripper, wherein the dress key shaft and the removable bearing spider it
Between, between the shaft and the bearing spider be equipped with bearing.
Above-mentioned variable-station robot charge gripper, wherein be equipped between the dress key shaft and the gear non-
Mark key.
Above-mentioned variable-station robot charge gripper, wherein indexing speed regulation is provided in the indexing pneumatic clamper
Valve.
Above-mentioned variable-station robot charge gripper, wherein be provided with inserts speed governing valve in the inserts pneumatic clamper.
Due to using above-mentioned technology, the good effect for being allowed to have compared with prior art is the utility model:
(1) the utility model realizes the station of robot charge gripper by a straight line cylinder and gear drive
Variation, and pattern is compact, and structure is simple, and cost is reduced.
Detailed description of the invention
Fig. 1 is the perspective view of the variable-station robot charge gripper of the utility model.
Fig. 2 is the main view of the variable-station robot charge gripper of the utility model.
Fig. 3 is the cross-sectional view at the pneumatic clamper mounting blocks of the variable-station robot charge gripper of the utility model.
In attached drawing: 1, flange connecting plate；2, rotation angle mechanism mounting plate；3, cylinder mounting plate；4, move along a straight line cylinder；5, tooth
Slide slot；6, rack gear；71, removable bearing spider；72, bearing spider；81, key shaft is filled；82, shaft；9, gear；10, gas
Pawl mounting blocks；11, indexing pneumatic clamper；12, indexing finger；13, injection-molded work；14, inserts pneumatic clamper；15, inserts finger；16,
Inserts；17, right angle is extremely kept off；18, dead gear；19, connecting flange；20, binding plate；21, spring bearing；22, bearing；23, nonstandard key.
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, but not as the utility model
It limits.
Fig. 1 is the perspective view of the variable-station robot charge gripper of the utility model, Fig. 2 be the utility model can
The main view of indexing robot charge gripper, Fig. 3 are the gas of the variable-station robot charge gripper of the utility model
Cross-sectional view at pawl mounting blocks, referring to fig. 1 to fig. 3, in the variable-station robot for showing a kind of preferred embodiment
Blanking gripper, including fixed mechanism, station mapping device, indexing clamping device and inserts clamping device, wherein fixed mechanism
It include: flange connecting plate 1, rotation angle mechanism mounting plate 2 and cylinder mounting plate 3, rotation angle mechanism mounting plate 2 and cylinder mounting plate 3 are equal
It is arranged on flange connecting plate 1, and rotation angle mechanism mounting plate 2 and cylinder mounting plate 3 are perpendicular.
In addition, station mapping device includes: linear motion cylinder 4, and move along a straight line cylinder as a kind of preferred embodiment
4 are arranged in the side of cylinder mounting plate 3.
In addition, station mapping device includes: rack gear slide slot 5 as a kind of preferred embodiment, rack gear slide slot 5 is set
It sets on rotation angle mechanism mounting plate 2.
Further, as a kind of preferred embodiment, station mapping device includes: rack gear 6, and the setting of rack gear 6 is sliding in rack gear
On row slot 5, rack gear 6 is moved left and right along the direction of rack gear slide slot 5.The piston rod phase of one end of rack gear 6 and linear motion cylinder 4
Connection, by moving along a straight line, 4 drive rack 6 of cylinder moves back and forth.
Further, as a kind of preferred embodiment, station mapping device includes: removable bearing spider 71 and bearing branch
Seat 72, removable bearing spider 71 and bearing spider 72 are arranged at rotation angle mechanism mounting plate 2 relative to the another of flange connecting plate 1
End, removable bearing spider 71 and bearing spider 72 face.
Further, as a kind of preferred embodiment, station mapping device includes: dress key shaft 81 and shaft 82, dress
Key shaft 81 is rotatably connected with removable bearing spider 71, and shaft 82 is rotatably connected with bearing spider 72, fills in key shaft 81
It is fixed with gear 9, gear 9 is meshed with rack gear 6.By the movement of rack gear 6 to drive gear 9 to rotate.
In addition, station mapping device includes: pneumatic clamper mounting blocks 10, pneumatic clamper mounting blocks 10 as a kind of preferred embodiment
Both ends respectively with dress key shaft 81 and shaft 82 be connected.Pneumatic clamper mounting blocks 10 are rotated with the rotation of gear 9.
On the other hand, as a kind of preferred embodiment, indexing clamping device includes: indexing pneumatic clamper 11, indexing
Pneumatic clamper 11 is arranged on pneumatic clamper mounting blocks 10.By the rotation of the rotate driving indexing pneumatic clamper 11 of pneumatic clamper mounting blocks 10, thus
Realize the indexing between " L " type state and " I " type state.
Further, as a kind of preferred embodiment, indexing clamping device includes: indexing finger 12, indexing hand
Refer to that 12 are mounted in indexing pneumatic clamper 11, injection-molded work 13 is clamped on indexing finger 12.
In addition, inserts clamping device includes: inserts pneumatic clamper 14 as a kind of preferred embodiment, inserts pneumatic clamper 14 is installed
In the other side of cylinder mounting plate 6.
In addition, inserts clamping device includes: inserts finger 15 as a kind of preferred embodiment, inserts finger 15 is installed
In inserts pneumatic clamper 14, inserts 16 is clamped on inserts finger 15.
In addition, as a kind of preferred embodiment, station mapping device further include: right angle extremely keeps off 17, and it is solid that right angle extremely keeps off 17
It is scheduled on rotation angle mechanism mounting plate 2, right angle extremely keeps off 17 sides for being located at removable bearing spider 71.17 pairs of pneumatic clampers are extremely kept off by right angle
The rotary spacing of mounting blocks 10.
Further more, as a kind of preferred embodiment, station mapping device further include: extremely keep off 18, dead gear 18 is tight by flush end
Determine screw 181 to be fixed on rotation angle mechanism mounting plate 2, dead gear 18 is located at the side of bearing spider 72, and dead gear 18 and right angle are extremely kept off
17 face.By the rotary spacing for extremely keeping off 18 pairs of pneumatic clamper mounting blocks 10.
The foregoing is merely the utility model preferred embodiment, be not intended to limit the embodiments of the present invention and
Protection scope.
The utility model also has on the basis of the above is implemented as follows mode:
In the further embodiment of the utility model, continuing with referring to shown in Fig. 1 to Fig. 3, it is provided on flange connecting plate 1
Connecting flange 19 and binding plate 20.
In the further embodiment of the utility model, fills and be equipped with support shaft between key shaft 81 and rotation angle mechanism mounting plate 2
Hold 21.
It in the further embodiment of the utility model, fills between key shaft 81 and removable bearing spider 71, shaft 82 and axis
It holds and is equipped with bearing 22 between support 72.
In the further embodiment of the utility model, fills and be equipped with nonstandard key 23 between key shaft 81 and gear 9, by nonstandard
Key 21, which makes to fill between key shaft 81 and gear 9, keeps relatively fixed, so that the rotation of gear 9 be enable to drive 81 turns of key shaft of dress
It is dynamic.
In the further embodiment of the utility model, indexing speed governing valve is provided in indexing pneumatic clamper 11.
In the further embodiment of the utility model, inserts speed governing valve is provided in inserts pneumatic clamper 14.
Illustrate the working method of the utility model below:
The piston rod of linear motion cylinder 4 stretches out band carry-over bar 6 and travels forward, and the linear motion band moving gear 9 of rack gear 6 revolves
Transhipment is dynamic, 9 rotary motion of gear, drives indexing clamping device by dress key shaft 81, nonstandard key 23 and pneumatic clamper mounting blocks 10
Rotary motion reaches " L " type state (extremely keeping off 10 limits by right angle at this time).
The piston rod of linear motion cylinder 4 retracts band carry-over bar 6 and moves backward, and the linear motion band moving gear 9 of rack gear 6 revolves
Transhipment is dynamic, 9 rotary motion of gear, drives indexing clamping device by dress key shaft 81, nonstandard key 23 and pneumatic clamper mounting blocks 10
Rotary motion reaches " I " type state (at this time by extremely 16 limit of gear), to realize that the station of robot charge gripper becomes
Change.
Illustrate the application method of the utility model below:
The inserts gripper mechanism grips inserts that robot passes through the variable-station robot charge gripper of the utility model
Variable-station robot charge gripper is become " L " type state by station mapping device, and is pressed from both sides by indexing by copper sheathing
Mechanism clamping moulding is held, then inserts copper sheathing is put into injection molding machine by inserts clamping device, while becoming again by station
Variable-station robot charge gripper is become " I " type state by structure of changing planes, and passes through indexing gripper mechanism grips moulding
It is placed in polishing deburring station and carries out polishing deburring operation, it is complete that the moulding processed is finally placed in blanking transmission line
At entire manufacturing procedure.
The foregoing is merely the utility model preferred embodiment, be not intended to limit the embodiments of the present invention and
Protection scope should can appreciate that all in the utility model specification and diagram to those skilled in the art
Hold made equivalent replacement and obviously change obtained scheme, the protection model of the utility model should all be included in
In enclosing.
Claims (8)
1. a kind of variable-station robot charge gripper, which is characterized in that including fixed mechanism, station mapping device, exchange work
Position clamping device and inserts clamping device, wherein
The fixed mechanism includes:
Flange connecting plate；
Rotation angle mechanism mounting plate and cylinder mounting plate, the rotation angle mechanism mounting plate and the cylinder mounting plate are arranged at described
On flange connecting plate, and the rotation angle mechanism mounting plate and the cylinder mounting plate are perpendicular；
The station mapping device includes:
Move along a straight line cylinder, and the side of the cylinder mounting plate is arranged in the linear motion cylinder；
Rack gear slide slot, the rack gear slide slot are arranged on the rotation angle mechanism mounting plate；
Rack gear, the rack gear are arranged on the rack gear slide slot, the work of one end of the rack gear and the linear motion cylinder
Stopper rod is connected；
Removable bearing spider and bearing spider, the removable bearing spider and the bearing spider are arranged at the rotation angle mechanism
The other end of the mounting plate relative to the flange connecting plate, the removable bearing spider and the bearing spider face；
Dress key shaft and shaft, the dress key shaft are rotatably connected with the removable bearing spider, the shaft and the axis
It holds support to be rotatably connected, is fixed with gear in the dress key shaft, the gear is meshed with the rack gear；
Pneumatic clamper mounting blocks, the both ends of the pneumatic clamper mounting blocks are connected with the dress key shaft and the shaft respectively；
The indexing clamping device includes:
Indexing pneumatic clamper, the indexing pneumatic clamper are arranged on the pneumatic clamper mounting blocks；
Indexing finger, the indexing finger mounted are clamped with note on the indexing finger in the indexing pneumatic clamper
Mould workpiece；
The inserts clamping device includes:
Inserts pneumatic clamper, the inserts pneumatic clamper are mounted on the other side of the cylinder mounting plate；
Inserts finger, the inserts finger mounted are clamped with inserts on the inserts finger in the inserts pneumatic clamper.
2. variable-station robot charge gripper according to claim 1, which is characterized in that the station mapping device
Further include:
Right angle is extremely kept off, and the right angle, which is extremely kept off, to be fixed on the rotation angle mechanism mounting plate, and the dead gear in right angle is in described removable
The side of bearing spider；
Dead gear, the dead gear are fixed on the rotation angle mechanism mounting plate by flush end holding screw, and the dead gear is in described
The side of bearing spider, the dead gear and the right angle extremely keep off and facing.
3. variable-station robot charge gripper according to claim 1, which is characterized in that on the flange connecting plate
It is provided with connecting flange and binding plate.
4. variable-station robot charge gripper according to claim 1, which is characterized in that the dress key shaft and institute
It states and is equipped with spring bearing between rotation angle mechanism mounting plate.
5. variable-station robot charge gripper according to claim 1, which is characterized in that the dress key shaft and institute
It states between removable bearing spider, be equipped with bearing between the shaft and the bearing spider.
6. variable-station robot charge gripper according to claim 1, which is characterized in that the dress key shaft and institute
It states and is equipped with nonstandard key between gear.
7. variable-station robot charge gripper according to claim 1, which is characterized in that in the indexing pneumatic clamper
It is provided with indexing speed governing valve.
8. variable-station robot charge gripper according to claim 1, which is characterized in that set in the inserts pneumatic clamper
It is equipped with inserts speed governing valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820624267.1U CN208246821U (en) | 2018-04-27 | 2018-04-27 | A kind of variable-station robot charge gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820624267.1U CN208246821U (en) | 2018-04-27 | 2018-04-27 | A kind of variable-station robot charge gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208246821U true CN208246821U (en) | 2018-12-18 |
Family
ID=64635331
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820624267.1U Active CN208246821U (en) | 2018-04-27 | 2018-04-27 | A kind of variable-station robot charge gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208246821U (en) |
-
2018
- 2018-04-27 CN CN201820624267.1U patent/CN208246821U/en active Active
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