CN213731801U - Automatic feeding and discharging manipulator for compressor casing - Google Patents
Automatic feeding and discharging manipulator for compressor casing Download PDFInfo
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- CN213731801U CN213731801U CN202022430894.1U CN202022430894U CN213731801U CN 213731801 U CN213731801 U CN 213731801U CN 202022430894 U CN202022430894 U CN 202022430894U CN 213731801 U CN213731801 U CN 213731801U
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- unloading manipulator
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Abstract
The utility model provides an automatic feeding and discharging manipulator of a compressor casing, which comprises a motor and an installation casing connected with an output shaft of the motor, wherein two groups of claws are installed on the installation casing, and each claw structurally comprises a palm and a plurality of fingers connected with the palm; each group of the claws comprises two oppositely arranged claws, an elastic pre-positioning push sheet is arranged on a palm of one of the two claws, the elastic pre-positioning push sheet is provided with a positioning surface for pre-positioning a workpiece, and the positioning surface slightly moves relative to the palm. The utility model discloses simple structure, simple to operate, it is convenient to use, has improved compressor housing's clamping efficiency and accurate rate greatly and has avoided the part to appear the circumstances such as the bruise at the clamping in-process, has reduced the defective rate of product.
Description
Technical Field
The utility model belongs to the technical field of the manipulator technique and specifically relates to an automatic feeding mechanical arm that goes up of compressor housing.
Background
The compressor casing is one of the important parts of the turbocharger of the automobile engine. When processing compressor housing, need place the blank work piece on the anchor clamps of frock to fix a position after fully contacting with location dabber and locating pin on the anchor clamps, process the back to the tip of blank on anchor clamps earlier, take off and put corresponding anchor clamps once more, process to the main aspects. This in-process needs the manual work to get and puts the blank work piece, and is not only inefficient, needs the naked eye to judge during the location moreover whether compressor housing laminates with positioning core axle and locating pin respectively, can't guarantee the form and position tolerance of work piece and the uniformity of processing, influences product quality. In addition, the centering degree cannot be guaranteed during manual taking and placing, and workpieces are easily abraded due to collision between the workpieces and the tool.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to curve among the prior art, designed an automatic feeding mechanical arm of unloading of compressor housing, positioning accuracy improves production efficiency simultaneously when satisfying to get and put the work piece.
The utility model adopts the technical scheme as follows:
an automatic loading and unloading manipulator for a compressor shell comprises a motor and an installation shell connected with an output shaft of the motor, wherein two groups of claws are installed on the installation shell, and each claw structurally comprises a palm and a plurality of fingers connected with the palm;
each group of the claws comprises two oppositely arranged claws, an elastic pre-positioning push sheet is arranged on a palm of one of the two claws, the elastic pre-positioning push sheet is provided with a positioning surface for pre-positioning a workpiece, and the positioning surface slightly moves relative to the palm.
The elastic pre-positioning push piece is connected with the palm through an elastic connecting assembly.
The elastic connecting assembly is structurally characterized by comprising a connecting bolt and a compression spring arranged on the connecting bolt in a sleeved mode, one end of the connecting bolt extends into the guide hole of the elastic pre-positioning push sheet, and the other end of the connecting bolt is fixedly connected with the palm.
The palm is provided with a connecting sleeve matched with the connecting bolt, one end of the compression spring is connected with the end face of the elastic pre-positioning push sheet, and the other end of the compression spring is connected with the end face of the connecting sleeve.
The shape of the positioning surface of the elastic pre-positioning push sheet is matched with the outline of the end to be clamped of the workpiece.
And a positioning hole matched with the workpiece is arranged on the positioning surface.
And a positioning column matched with the workpiece is arranged on the positioning surface.
The installation shell is provided with four side faces, the four claws are evenly arranged on the four side faces, and two claws at opposite side positions form a group.
The fingers of each paw are uniformly arranged along the circumferential direction of the palm, and the fingers are driven by the driving part to move towards the direction close to or far away from the center of the palm, so that clamping or loosening is realized.
The finger is of an L-shaped structure, one end of the finger is connected with a piston rod of a driving cylinder arranged on the palm, the other end of the finger is connected with a finger patch, the finger patch is made of soft materials, and the end face of the finger patch, which is in contact with the workpiece, is provided with a structure matched with the outline of the workpiece.
The utility model has the advantages as follows:
the utility model discloses simple structure, simple to operate, it is convenient to use, has improved compressor housing's clamping efficiency and accurate rate greatly and has avoided the part to appear the circumstances such as the bruise at the clamping in-process, has reduced the defective rate of product.
The utility model discloses a locating surface and the work piece laminating of elasticity prepositioning push jack, to the accuracy height, will place the in-process that the anchor clamps were placed to the work piece, elasticity prepositioning push jack can provide certain displacement for the work piece counterpoint, satisfies the accurate butt joint that exists under the certain deviation condition, provides the pretension space for the work piece clamping simultaneously, can prevent that the rigidity butt joint from causing the damage, has improved positioning accuracy.
The utility model discloses a finger is applicable to snatching of polytypic compressor casing, through the design of elasticity prepositioning push jack, satisfies getting of different positions and puts the demand, and the suitability is high.
Drawings
Fig. 1 is a schematic perspective view of the present invention.
Fig. 2 is an enlarged view of a portion a in fig. 1.
Fig. 3 is another view of fig. 1.
In the figure: 1. a motor; 2. installing a shell; 3. a palm; 4. a finger; 5. finger pasting; 6. elastically pre-positioning the push sheet; 7. a compression spring; 8. a connecting bolt; 9. connecting sleeves; 61. a guide hole; 62. positioning the surface; 63. a positioning column; 64. and (7) positioning the holes.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1 and 2, the automatic loading and unloading manipulator for the compressor casing of the present embodiment includes a motor 1 and an installation casing 2 connected to an output shaft of the motor 1, wherein two sets of claws are installed on the installation casing 2, and each claw includes a palm 3 and a plurality of fingers 4 connected to the palm 3;
each group of the claws comprises two oppositely arranged claws, an elastic pre-positioning push sheet 6 is arranged on the palm 3 of one of the two claws, the elastic pre-positioning push sheet 6 is provided with a positioning surface 62 for pre-positioning a workpiece, and the positioning surface 62 slightly moves relative to the palm 3.
Specifically, the elastic pre-positioning push sheet 6 is connected with the palm 3 through an elastic connecting component.
Specifically, as shown in fig. 2, the elastic connection assembly includes a connection bolt 8 and a compression spring 7 sleeved on the connection bolt 8, one end of the connection bolt 8 extends into the guide hole 61 of the elastic pre-positioning pushing sheet 6, and the other end is fixedly connected with the palm 3.
Specifically, a connecting sleeve 9 matched with the connecting bolt 8 is arranged on the palm 3, one end of the compression spring 7 is connected with the end face of the elastic pre-positioning push sheet 6, and the other end of the compression spring is connected with the end face of the connecting sleeve 9.
The shape of the positioning surface 62 of the elastic pre-positioning push sheet 6 is matched with the outline of the end to be clamped of the workpiece.
Specifically, as shown in fig. 3, the mounting case 2 has four sides, and four grippers are evenly arranged on the four sides, and two at opposite side positions are in one set.
The fingers 4 of each paw are uniformly arranged along the circumference of the palm 3, and the fingers 4 are driven by the driving part to move towards the direction close to or far away from the center of the palm 3, so that clamping or loosening is realized.
The finger 4 is in an L-shaped structure, one end of the finger is connected with a piston rod of a driving cylinder arranged on the palm 3, the other end of the finger is connected with a finger patch 5, the finger patch 5 is made of soft materials, and the end face of the finger patch 5, which is in contact with a workpiece, is provided with a structure matched with the outline of the workpiece.
Specifically, the end face of the finger patch 5 contacting the workpiece is concave cambered surface.
Specifically, as shown in fig. 3, the motor 1 is installed at one end of the installation housing 2, and drives four claws to rotate around a motor shaft, two opposite claws form a group, one of the two claws in each group is provided with the elastic pre-positioning push piece 6, and the other one is not required to be arranged, the claws on the left side and the lower side in fig. 3 are provided with the elastic pre-positioning push pieces 6, and the positioning surfaces 62 of the elastic pre-positioning push pieces 6 on the left side and the lower side have different shapes according to the shape of a workpiece; the positioning surface 62 of the elastic pre-positioning push sheet 6 of the lower-side paw is of another semi-circular-arc-shaped plate structure, a positioning column 63 matched with a workpiece is arranged on the positioning surface, and the left-side paw and the lower-side paw respectively meet the clamping requirements for the small end and the large end of the compressor shell.
Specifically, the palm 3 adopts a main body structure of a commercially available 'sinker clamping jaw' and is provided with a cylinder driving piece, fingers 4 matched with a workpiece in shape are installed on the 'sinker clamping jaw', and an elastic pre-positioning push sheet 6 for improving positioning accuracy is used for completing assembly.
When the robot works, the robot drives the mechanical arm to reach the specified position of the pressing shell, the finger 4 of the left-side paw is used for opening and grabbing the small end of the workpiece, the blank of the compressor shell is moved to a tool on a machine tool, the butt joint surface of the blank is attached to the locating point of the tool, the workpiece is pre-tightened through the attaching and locating of the locating surface 62 and the workpiece, the workpiece is clamped by the corresponding clamp and then the small end is machined, meanwhile, the spring pre-locating push piece 6 and the grabbing finger 4 are sequentially disengaged, and the robot returns to the specified position. When the blank is placed on the tool, the displacement of the positioning surface 62 is adjusted through the compression spring 7, so that a section of displacement is provided for the workpiece in the moment, the accurate butt joint under the condition of certain deviation can be met, a pre-tightening space is provided for workpiece clamping, the damage caused by rigid butt joint can be prevented, and the positioning precision is improved. After the machining is finished, the machined workpiece is grabbed by using the right-side paw. The large end is grabbed by the lower-side gripper, the compressor shell blank is moved to the clamp, the large end is machined, when a workpiece is placed on the clamp, the displacement of the positioning surface 62 is adjusted through the compression spring 7, and a section of displacement is provided for the moment when the workpiece is placed, so that the positioning precision is improved, and damage caused by rigid butt joint is prevented; after the machining is finished, the machined workpiece is grabbed by the upper side paw.
The automatic feeding and discharging manipulator for the compressor casing is designed to be matched with the shape of the compressor casing with a specific model, and the matching of the compressor casings with different models can be met by replacing elastic pre-positioning push pieces with different shapes. The operation efficiency and the precision are greatly improved.
Claims (10)
1. The automatic loading and unloading manipulator for the compressor casing is characterized by comprising a motor (1) and an installation casing (2) connected with an output shaft of the motor (1), wherein two groups of claws are installed on the installation casing (2), and each claw structurally comprises a palm (3) and a plurality of fingers (4) connected with the palm (3);
every group hand claw is equipped with elasticity prepositioning push jack (6) including two that set up relatively on palm (3) that have a hand claw in two, elasticity prepositioning push jack (6) have carry out prepositioning locating surface (62) to the work piece, locating surface (62) for the fine motion takes place for palm (3).
2. The automatic loading and unloading manipulator for air compressor casings as claimed in claim 1, wherein the elastic pre-positioning push plate (6) is connected with the palm (3) through an elastic connecting assembly.
3. The automatic loading and unloading manipulator of claim 2, wherein the elastic connection assembly comprises a connection bolt (8) and a compression spring (7) sleeved on the connection bolt (8), one end of the connection bolt (8) extends into the guide hole (61) of the elastic pre-positioning push piece (6), and the other end of the connection bolt is fixedly connected with the palm (3).
4. The automatic loading and unloading manipulator for the compressor housing as claimed in claim 3, wherein a connecting sleeve (9) is disposed on the palm (3) and is connected with the connecting bolt (8) in a matching manner, one end of the compression spring (7) is connected with the end face of the elastic pre-positioning push piece (6), and the other end of the compression spring is connected with the end face of the connecting sleeve (9).
5. The automatic loading and unloading manipulator for gas compressor casings as claimed in claim 1, wherein the shape of the positioning surface (62) of the elastic pre-positioning push plate (6) is matched with the contour of the end to be clamped of the workpiece.
6. The automatic compressor casing loading and unloading manipulator according to claim 5, wherein the positioning surface (62) is provided with positioning holes (64) for matching with the workpiece.
7. The automatic loading and unloading manipulator for compressor cases as claimed in claim 5, wherein the positioning surface (62) is provided with positioning posts (63) for engaging with the workpiece.
8. The automatic loading and unloading manipulator for compressor casings as claimed in claim 1, wherein the mounting housing (2) has four sides, four grippers are evenly arranged on the four sides, and two grippers at opposite sides are in a group.
9. The automatic loading and unloading manipulator for the compressor housing as claimed in claim 1, wherein the fingers (4) of each gripper are uniformly arranged along the circumference of the palm (3), and the fingers (4) are driven by a driving part to move towards the direction close to or away from the center of the palm (3) to realize clamping or loosening.
10. The automatic loading and unloading manipulator of compressor case according to claim 9, wherein the finger (4) is in an "L" shape, one end of the finger is connected with a piston rod of a driving cylinder installed on the palm (3), the other end of the finger is connected with a finger patch (5), the finger patch (5) is made of soft material, and the end face of the finger patch (5) contacting with the workpiece has a structure matched with the profile of the workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022430894.1U CN213731801U (en) | 2020-10-27 | 2020-10-27 | Automatic feeding and discharging manipulator for compressor casing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022430894.1U CN213731801U (en) | 2020-10-27 | 2020-10-27 | Automatic feeding and discharging manipulator for compressor casing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213731801U true CN213731801U (en) | 2021-07-20 |
Family
ID=76854781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022430894.1U Active CN213731801U (en) | 2020-10-27 | 2020-10-27 | Automatic feeding and discharging manipulator for compressor casing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213731801U (en) |
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2020
- 2020-10-27 CN CN202022430894.1U patent/CN213731801U/en active Active
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