CN2784137Y

CN2784137Y - Mechanical hand unit for holding and positioning workpieces

Info

Publication number: CN2784137Y
Application number: CN 200520080891
Authority: CN
Inventors: 许维群
Original assignee: Individual
Current assignee: Individual
Priority date: 2005-03-09
Filing date: 2005-03-09
Publication date: 2006-05-31
Anticipated expiration: 2015-03-09

Abstract

The utility model relates to a mechanical hand unit for holding and positioning workpieces, which is provided with a machine base, a machine body and a holding head, wherein the holding head comprises a fixing disk, a rotating disk, a suction disk and a pneumatic brake ring; the rotating disk is supported on the fixing disk in rotation; the suction disk is arranged on the rotating disk; the pneumatic brake ring is arranged between the fixing disk and the rotating disk; the machine body is connected with a piston rod of a driving hydraulic cylinder, and the lower end of the machine body can be hinged on the machine base in rotation; the fixing disk of the holding head is connected with a piston rod of a driving hydraulic cylinder, and is hinged on the upper end of the machine body in rotation; the rotating plane of the fixing disk corresponding to the machine body is perpendicular to the rotating plane of the machine body corresponding to the machine base. By the rotation of the machine body, the fixing disk and the rotating disk along each direction, an operator can conveniently rotate the holding head and the workpiece in three-dimensional space to position the holding head and the workpiece at the optimum processing position and operating attitude. The utility model is used. Thus, large-sized workpieces can be lightly moved, the labor intensity is dropped and the production efficiency and the product quality are raised. The utility model is particularly suitable for processing large-sized stone products.

Description

The robot device that is used for workpiece sticking location

Technical field

The utility model relates to a kind of robot device that is used for sticking, location workpiece, rotates in three dimensions by its sticking portion the workpiece of institute's sticking is located in position, operates to make things convenient for the processor.It is particularly suitable for the processing of large-stone goods.

Background technology

As everyone knows, manual operations still is absolutely necessary in some specific process, and for example in stone product processing, the carving of stone carving moulding pecks and the rubbing down at the irregular edge of stone slab, needs manual finishing usually.When product volume, area or the weight of processing were big, for easy to operate, traditional method was to be fixed on support or the pedestal, by processor's mobile process operation to each position of goods.Because the restriction of product size and processor's moving range, different parts processor for goods can both find suitable angle and attitude to operate, some position even be difficult to maybe can't process, need goods are constantly moved, are shifted for this reason, labour intensity is big, efficient is low, also influences crudy simultaneously.Moreover, goods also cause damage easily in moving process, bring unnecessary loss, even cause personal injury accidents.

Summary of the invention

The purpose of this utility model provide a kind of can the sticking workpiece and with the robot device of its rotational positioning to the appropriate location, to make things convenient for the processor to operate.

For this reason, the utility model adopts following technical scheme: the robot device that is used for workpiece sticking location, has support, fuselage, holding head, holding head comprises fixed disk, be rotatably supported in the rolling disc on the fixed disk, be arranged on the sucker on the rolling disc, and be arranged on rolling disc detent mechanism between fixed disk and the rolling disc, fuselage is connected with the piston rod of its driving hydraulic cylinder, and its lower end is hinged on support rotationally, the holding head fixed disk is connected with the piston rod of its driving hydraulic cylinder, and be hinged on the upper end of fuselage rotationally, fixed disk with respect to the rotational plane of fuselage perpendicular to the rotational plane of fuselage with respect to support.

The rolling disc detent mechanism preferably adopts the aerodynamic brake ring.

Sucker is communicated with vacuum pump apparatus by pipeline, control valve, is used for the workpiece sticking thereon.The rotation of fuselage, fixed disk is promoted by separately driving hydraulic cylinder respectively, and can make rolling disc be in rotatable or hold state tightly by the control of aerodynamic brake ring.Because fixed disk is positioned on two orthogonal planes with respect to the rotation with respect to support of the rotation of fuselage and fuselage, and rolling disc can rotate, locate around fixed disk, therefore holding head has three and freely rotates dimension, can rotation arbitrarily in three dimensions.Thus, the operator can rotate workpiece, be positioned at best Working position and operating attitude easily.

The robot device that the utility model provides has stability of rotation, safe and reliable characteristics, utilize this device can make moving of large-scale workpiece become free and relaxed, reduce operator's labour intensity greatly, improve operator's comfort level, production efficiency and product quality.

Description of drawings

Fig. 1 is the structural representation that is used for the sticking positioning mechanical arm device of large-stone goods.

Fig. 2 is that partial sectional view is looked on the left side of Fig. 1.

Fig. 3 is the schematic diagram of the fuselage rotary state of robot device shown in Figure 1.

Fig. 4 is the schematic diagram of the fixed disk rotary state of robot device shown in Figure 1.

The specific embodiment

Present embodiment provides a kind of large-stone goods that are used for to add man-hour, the robot device of sticking location stone product.With reference to Fig. 1, Fig. 2, this robot device has support 11, fuselage 10, holding head, and holding head comprises fixed disk 4, rolling disc 2, rubber suction cups 1, brake ring 3.

The axis of rolling disc 2 is rotatably supported in the fixed disk 4 by bearing 5, and this hollow and axle head have opening, and opening is communicated with vacuum pump apparatus by pipeline, control valve.Rubber suction cups 1 is installed on the rolling disc 2 and has suction hole with rolling disc axis internal communication, by vacuumizing the formation absorption affinity, and can stone material 12 sucks on the rubber suction cups 1 with being placed on, fixing.

Offer groove on fixed disk 4 and rolling disc 2 contact-making surfaces, activity is provided with brake ring 3 in the groove, and this brake ring 3 connects pneumatic means (not shown)s, by the action of foot-operated jettron control pneumatic means, can make brake ring 3 hold rolling disc 2 tightly or separate with it.When brake ring 3 and rolling disc 2 are in released state, the operator just can easily rotate rolling disc 2 to desired location, makes brake ring 3 hold rolling disc 2 tightly then, is located on fixed disk 4.

The middle part of fuselage 10 is connected with the piston rod of oil cylinder 9, its lower end is hinged on the support 11 rotationally by bearing 7, fixed disk 4 and the piston rod of oil cylinder 8 are connected and are hinged on rotationally by bearing 6 upper end of fuselage 10, the cylinder body of oil cylinder 9, oil cylinder 8 is movably connected in respectively on support 11, the fuselage 10, and is connected with hydraulic system.With reference to Fig. 3 to Fig. 4, fixed disk 4, fuselage 10 are promoted and can be rotated around articulated section separately by oil cylinder, and fixed disk 4 is orthogonal with respect to the rotational plane of support 11 with respect to the rotational plane and the fuselage 10 of fuselage 10.

Because fixed disk 4 is positioned on two orthogonal planes with respect to the rotation with respect to support 11 of the rotation of fuselage 10 and fuselage 10, and rolling disc 2 can rotate around fixed disk 4, the location, therefore holding head has three and freely rotates dimension, can rotation arbitrarily in three dimensions.Thus, the operator can be positioned at stone material on the best processing stations easily, make the operator can be with the optimal operations attitude, from the machining angle of the best stone material is carried out high efficiency, processing in high quality.

The principle of above-mentioned pneumatic, hydraulic means, system and formation are well known to those of ordinary skill in the art, need not to give unnecessary details one by one.

Claims

1, the robot device that is used for workpiece sticking location, has support, fuselage, holding head, it is characterized in that: holding head comprises fixed disk, be rotatably supported in the rolling disc on the fixed disk, be arranged on the sucker on the rolling disc, and be arranged on rolling disc detent mechanism between fixed disk and the rolling disc, fuselage is connected with the piston rod of its driving hydraulic cylinder, and its lower end is hinged on support rotationally, the holding head fixed disk is connected with the piston rod of its driving hydraulic cylinder, and be hinged on the upper end of fuselage rotationally, fixed disk with respect to the rotational plane of fuselage perpendicular to the rotational plane of fuselage with respect to support.

2, robot device according to claim 1 is characterized in that: described rolling disc detent mechanism is the aerodynamic brake ring.