CN202878011U - Disc type part reloading manipulator - Google Patents
Disc type part reloading manipulator Download PDFInfo
- Publication number
- CN202878011U CN202878011U CN 201220219422 CN201220219422U CN202878011U CN 202878011 U CN202878011 U CN 202878011U CN 201220219422 CN201220219422 CN 201220219422 CN 201220219422 U CN201220219422 U CN 201220219422U CN 202878011 U CN202878011 U CN 202878011U
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- triangle piece
- manipulator
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- accessory
- disk
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- Expired - Lifetime
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- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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Abstract
A disc type part reloading manipulator is characterized by comprising a fixed triangular block (1), a rotating air cylinder (2), a rotating triangular block (3) and a grabbing device (4). The rotating air cylinder (2) is installed on the fixed triangular block (1), the rotating triangular block (3) is installed on a rotating head of the rotating air cylinder (2), and the grabbing device (4) is installed on the rotating triangular block (3). Disc type parts are grasped through the mode that a rigid structure and an elastic structure are combined mutually, automatic feeding and blanking of the disc type parts in a processing process of the disc type parts are achieved, moreover high accurate axial positioning of the disc type parts is ensured, and the whole device is simple in structure and easy to operate.
Description
Technical field
The utility model belongs to the Machining Technology field, specifically just relates to a kind of for the automated production process processing disk-like accessory manipulator that changes the outfit.
Background technology
Along with industrial expansion; automation equipment has been widely used in the various production fields; a kind of some holding function that can imitate staff and arm is arranged in the automated production process; in order to grasp by fixed routine; the automatic pilot of carrying object or operation tool is called manipulator; manipulator is the industrial robot that occurs the earliest; also be the modern machines people who occurs the earliest; it can replace people's mechanization and the automation of heavy work to realize producing; can under hostile environment, operate with the protection personal safety, thereby be widely used in machine-building; metallurgical; electronics; the department such as light industry and atomic energy.Manipulator mainly is comprised of hand, motion and control system three parts.Hand is the parts that grasp workpiece (or instrument), according to the shape that is grasped object, size, weight, material and job requirements the various structures form is arranged, such as clamp-type, holding type and absorbent-type etc.Motion makes hand finish various rotations (swing), mobile or compound motion and realizes the action of stipulating changing the position and the posture that are grasped object, and the self-movement modes such as the lifting of motion, flexible, rotation are called the free degree of manipulator.In order to grasp the object of optional position and orientation in the space, 6 frees degree need be arranged, the free degree is the key parameter of manipulator design, the free degree is more, and the flexibility of manipulator is larger, and versatility is wider, its structure is also more complicated, and general special manipulator has 2～3 frees degree.Control system is by the control to the motor of each free degree of manipulator, finishes specific action, and the receiving sensor feedack forms stable closed-loop control simultaneously.The core of control system normally is made of microcontroller chips such as single-chip microcomputer or DSP, by its programming is realized the function of wanting, the great advantage of manipulator is can be according to predefined movement locus motion, be widely used in lathe, the loading and unloading of production line, fitting turnover, part turns order and anchor clamps change the outfit etc., the Main Function of existing robot in industry and other fields is the carrying part, in automated production, it is much lower ordinary robot's crawl positioning accuracy requires with respect to the hi-Fix of part in process, directly guarantee that by robot the accurate location of part is very inaccessible, especially for disk-like accessory, because the difficulty of crawl free degree restriction, the position error that changes the outfit of disk-like accessory is larger at present, is difficult to once reach the machining accuracy positioning requirements.
The utility model content
The purpose of this utility model provides a kind of disk-like accessory manipulator that changes the outfit, and it can realize the automatic loading/unloading of disk-like accessory in the disk-like accessory process, and has guaranteed the high precision location that disk-like accessory is axial, and whole apparatus structure is simple, easy operating.
Technical scheme
In order to realize above-mentioned technical purpose, the utility model designs a kind of disk-like accessory manipulator that changes the outfit, and it is characterized in that: it comprises fixed triangle piece, rotary cylinder, rotary triangle piece and grabbing assembly.
Described rotary cylinder is installed on the fixed triangle piece, and the rotary triangle piece is installed on the swivel head of rotary cylinder, on the rotary triangle piece grabbing assembly is installed.
Described grabbing assembly comprises three points centering gas pawl, paw is installed on the clamp jaw of three points centering gas pawl, location-plate is fixed on the head of three points centering gas pawl, guide post passes the through hole on the location-plate, can slide in through hole, and the guide post right-hand member is positioned at the location-plate through hole boss outward, left end fixedly is equipped with push pedal, Compress Spring is enclosed within on the guide post, and between push pedal and location-plate, Compress Spring is in compressive state.
Described fixed triangle piece is that an interior angle is 45 ° isosceles right triangle, and described rotary cylinder is installed on the inclined edge surfaces of fixed triangle piece.
Described rotary triangle piece is that an interior angle is 45 ° isosceles right triangle, and the inclined-plane of rotary triangle piece is installed on the swivel head of rotary cylinder, on the right angle face of rotary triangle piece grabbing assembly is installed.
Described rotary cylinder can rotate 180 ° along self axis.
Beneficial effect
The utility model grasps disk-like accessory by the mode that rigid structure and elastic construction combine, the automatic loading/unloading of disk-like accessory in the existing disk-like accessory process, and having guaranteed the high precision location that disk-like accessory is axial, whole apparatus structure is simple, easy operating.
Description of drawings
Accompanying drawing 1 is front view of the present utility model.
Accompanying drawing 2 is left views of the present utility model.
Accompanying drawing 3 is grabbing assembly structural representations of the present utility model.
The specific embodiment
Below in conjunction with drawings and Examples, the utility model is described further.
Shown in attached Fig. 1 and 2, a kind of disk-like accessory manipulator that changes the outfit, wherein, it comprises fixed triangle piece 1, rotary cylinder 2, rotary triangle piece 3 and grabbing assembly 4;
Described rotary cylinder 2 is installed on the fixed triangle piece 1, and rotary triangle piece 3 is installed on the swivel head of rotary cylinder 2, and grabbing assembly 4 is installed on the rotary triangle piece 3;
Described grabbing assembly 4 comprises three points centering gas pawl 401, paw 402 is installed on the clamp jaw 401a of three points centering gas pawl 401, location-plate 403 is fixed on the head of three points centering gas pawl 401, guide post 404 passes the through hole on the location-plate 403, can in through hole, slide, guide post 404 right-hand members are positioned at location-plate 403 through holes boss 404a outward, left end fixedly is equipped with push pedal 405, Compress Spring 406 is enclosed within on the guide post 404, between push pedal 405 and location-plate 403, Compress Spring 406 is in compressive state.
Described fixed triangle piece 1 is that an interior angle is 45 ° isosceles right triangle, and described rotary cylinder 2 is installed on the inclined edge surfaces of fixed triangle piece 1.
Described rotary triangle piece 3 is that an interior angle is 45 ° isosceles right triangle, and the inclined-plane of rotary triangle piece 3 is installed on the swivel head of rotary cylinder 2, and grabbing assembly 4 is installed on the right angle face of rotary triangle piece 3.
Described rotary cylinder 2 can rotate 180 ° along self axis.
During work, the utility model disk-like accessory manipulator that changes the outfit grasped part blank before this, process was divided into for two steps: the first step is the push pedal 405 compressing component blanks of manipulator three points centering gas pawl 401 vertically, guarantees that Compress Spring 406 decrements increase 1mm; Second step then three points centering gas pawl 401 clamps part blank.Then carry out changing the outfit of part, robot uses the three points centering gas pawl 401 ' of horizontal direction to grasp manufactured finished part on the machine chuck, and robot retreats to the safety zone, 3 rotations of rotary triangle piece, the position of change parts finished product and part blank.At last, robot delivers to the machine chuck center to part blank, the end face and the machine chuck that guarantee part blank are located the distance of end face between 0.3～0.6mm, the three points centering gas pawl of horizontal direction unclamps, and part blank is at Compress Spring 406 ', effect under by push pedal 405 ', be pressed on the location end face of machine chuck, machine chuck clamps part blank, and robot withdraws from, and changes the outfit to finish.
The utility model grasps disk-like accessory by the mode that rigid structure and elastic construction combine, the automatic loading/unloading of disk-like accessory in the existing disk-like accessory process, and having guaranteed the high precision location that disk-like accessory is axial, whole apparatus structure is simple, easy operating.
Claims (4)
1. disk-like accessory manipulator that changes the outfit, it is characterized in that: it comprises fixed triangle piece (1), rotary cylinder (2), rotary triangle piece (3) and grabbing assembly (4);
Described rotary cylinder (2) is installed on the fixed triangle piece (1), and rotary triangle piece (3) is installed on the swivel head of rotary cylinder (2), and grabbing assembly (4) is installed on the rotary triangle piece (3);
Described grabbing assembly (4) comprises three points centering gas pawl (401), paw (402) is installed on the clamp jaw (401a) of three points centering gas pawl (401), location-plate (403) is fixed on the head of three points centering gas pawl (401), guide post (404) passes the through hole on the location-plate (403), can in through hole, slide, guide post (404) right-hand member is positioned at location-plate (403) through hole boss (404a) outward, left end fixedly is equipped with push pedal (405), Compress Spring (406) is enclosed within on the guide post (404), be positioned between push pedal (405) and the location-plate (403), Compress Spring (406) is in compressive state.
2. a kind of disk-like accessory as claimed in claim 1 manipulator that changes the outfit, it is characterized in that: described fixed triangle piece (1) is that an interior angle is 45 ° isosceles right triangle, and described rotary cylinder (2) is installed on the inclined edge surfaces of fixed triangle piece (1).
3. a kind of disk-like accessory as claimed in claim 1 manipulator that changes the outfit, it is characterized in that: described rotary triangle piece (3) is that an interior angle is 45 ° isosceles right triangle, the inclined-plane of rotary triangle piece (3) is installed on the swivel head of rotary cylinder (2), and grabbing assembly (4) is installed on the right angle face of rotary triangle piece (3).
4. a kind of disk-like accessory as claimed in claim 1 manipulator that changes the outfit, it is characterized in that: described rotary cylinder (2) can rotate 180 ° along self axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220219422 CN202878011U (en) | 2012-05-15 | 2012-05-15 | Disc type part reloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220219422 CN202878011U (en) | 2012-05-15 | 2012-05-15 | Disc type part reloading manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202878011U true CN202878011U (en) | 2013-04-17 |
Family
ID=48069476
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220219422 Expired - Lifetime CN202878011U (en) | 2012-05-15 | 2012-05-15 | Disc type part reloading manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202878011U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102653069A (en) * | 2012-05-15 | 2012-09-05 | 马丁路德机器人（上海）有限公司 | Plate-type part exchanging mechanical hand |
| CN106475840A (en) * | 2016-11-17 | 2017-03-08 | 广州鑫南数控科技有限公司 | A kind of four axle robot of upside-down mounting and product processing method |
| CN106914631A (en) * | 2017-04-12 | 2017-07-04 | 黄河科技学院 | A kind of mechanical grip for machine-building |
| CN108127467A (en) * | 2017-12-15 | 2018-06-08 | 杭州三奥智能科技有限公司 | A kind of helical teeth floating loading and unloading grabbing device |
| CN109702227A (en) * | 2017-10-25 | 2019-05-03 | 深圳市炫硕智造技术有限公司 | Paw device |
-
2012
- 2012-05-15 CN CN 201220219422 patent/CN202878011U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102653069A (en) * | 2012-05-15 | 2012-09-05 | 马丁路德机器人（上海）有限公司 | Plate-type part exchanging mechanical hand |
| CN106475840A (en) * | 2016-11-17 | 2017-03-08 | 广州鑫南数控科技有限公司 | A kind of four axle robot of upside-down mounting and product processing method |
| CN106914631A (en) * | 2017-04-12 | 2017-07-04 | 黄河科技学院 | A kind of mechanical grip for machine-building |
| CN109702227A (en) * | 2017-10-25 | 2019-05-03 | 深圳市炫硕智造技术有限公司 | Paw device |
| CN109702227B (en) * | 2017-10-25 | 2020-08-28 | 深圳市炫硕智造技术有限公司 | Paw device |
| CN108127467A (en) * | 2017-12-15 | 2018-06-08 | 杭州三奥智能科技有限公司 | A kind of helical teeth floating loading and unloading grabbing device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: ZHIYOU ROBOT (SHANGHAI) CO., LTD. Free format text: FORMER OWNER: MARTIN LORD ROBOT (SHANGHAI) CO., LTD. Effective date: 20150521 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 201899 JIADING, SHANGHAI TO: 200131 PUDONG NEW AREA, SHANGHAI |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20150521 Address after: 200131 Shanghai city Chinese (Shanghai) Free Trade Zone No. 399 North Road, building 2, 376 foot position Patentee after: Ideal robot (Shanghai) Co., Ltd. Address before: 201899, room 7, building 333, 1210 Chengbei Road, Shanghai, Jiading District Patentee before: Martin Luther Robotics (Shanghai) Co., Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20130417 |
|
| CX01 | Expiry of patent term |