CN105965532A - Automatic mechanical arm for grabbing clutch - Google Patents
Automatic mechanical arm for grabbing clutch Download PDFInfo
- Publication number
- CN105965532A CN105965532A CN201610589661.1A CN201610589661A CN105965532A CN 105965532 A CN105965532 A CN 105965532A CN 201610589661 A CN201610589661 A CN 201610589661A CN 105965532 A CN105965532 A CN 105965532A
- Authority
- CN
- China
- Prior art keywords
- mechanical hand
- finger
- clutch
- workpiece
- automatic mechanical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an automatic mechanical arm for grabbing a clutch. The automatic mechanical arm comprises a finger mechanism used for grabbing a workpiece and a mechanical arm body connected with the finger mechanism and a truss, and the mechanical arm body is used for clamping the finger mechanism and is driven by the truss to move the workpiece. The automatic mechanical arm further comprises a pressing mechanism arranged on the finger mechanism, and the pressing mechanism is used for pressing the workpiece onto a machine tool fixture after the mechanical arm body looses the finger mechanism so that the workpiece dislocation can be avoided. Compared with the prior art, the pressing mechanism can press the workpiece onto the machine tool fixture when gas claws carry out releasing, the truss is prevented from being stressed by extra additional force while workpiece dislocation is avoided, and then the service life is prolonged.
Description
Technical field
The present invention relates to a kind of robot accessory, especially relate to a kind of clutch and capture automatic mechanical hand.
Background technology
When clutch housing uses truss automatic loading/unloading, between major part truss paw and workpiece, there is no elastic compression
Mechanism, whether workpiece is put into position on jig is leaned on the precision of truss self to ensure, if truss paw unclamps
Rear jig clamps again, and paw unclamps rear workpiece and deviates accurate location under gravity, and jig clamps
The rear location of workpiece is inaccurate, affects the accurate to dimension of workpiece.If truss paw is the most loose after jig clamping
Opening, truss, because position error, can bear the additional force from jig, easily reduces the service life of truss
And positioning precision.
In order to ensure intensity and the clamping force of truss paw, reduce cost, on a lot of truss paws and absorption surface
Finger the most directly use steel material, so easily leave clamping vestige at the surface of the work machined, impact
The qualification rate of workpiece.
Generally, towards the trachea of gas pawl and sensor signal lines etc. all from connecting set square disposed outside, account for
Big with space, circuit is easily interfered with other mechanisms and lathe internal mechanism.
The buffer gear buffering effect that general rotary cylinder carries is poor, the poor stability that cylinder puts in place.
Owing to the main components on paw is used exclusively for the Standard Gases pawl of automatization, due to the mistake of truss loading and unloading
Cheng Zhong, gas pawl uses frequency the highest, and stability and service life to gas pawl require the highest, the therefore valency of gas pawl
Lattice are expensive, typically all use cheap gas pawl to reduce cost, it is difficult to ensure that the stability in production process.
Summary of the invention
Defect that the purpose of the present invention is contemplated to overcome above-mentioned prior art to exist and provide a kind of clutch to capture
Automatic mechanical hand.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of clutch captures automatic mechanical hand, including:
Finger mechanism, for grabbing workpiece；
Mechanical hand main body, is connected with finger mechanism and truss respectively, is used for gripping finger mechanism, and driving at truss
Dynamic lower travelling workpiece；
Also include:
Hold-down mechanism, is located on finger mechanism, for after mechanical hand main body unclamps finger mechanism, by Work-sheet pressing
To avoid workpiece to misplace on jig.
Described finger mechanism includes for finger connector with for the finger of grabbing workpiece, described finger connector with
Mechanical hand main body connects.
Described mechanical hand main body includes the rotating mechanism being connected with truss, and for capturing the gas pawl machine of finger mechanism
Structure, described pneumatic gripper mechanism is connected with rotating mechanism, and described hold-down mechanism is connected with pneumatic gripper mechanism.
Described pneumatic gripper mechanism, finger mechanism and hold-down mechanism are sequentially connected with and constitute a gas pawl clamp assembly, described
Automatic mechanical hand includes two gas pawl clamp assemblies altogether, and two gas pawl clamp assemblies are all connected with rotating mechanism；
During loading and unloading, after the finished work-piece on jig is taken out by a gas pawl clamp assembly, rotating mechanism revolve
Turning, the blank workpiece captured in advance is put in jig by another gas pawl again.
Described pneumatic gripper mechanism includes that gas pawl, the gentle ZHUANLIAN of gas ZHUANLIAN fishplate bar connect set square, and described gas pawl passes sequentially through gas
The gentle ZHUANLIAN of ZHUANLIAN fishplate bar connects set square and is connected with rotating mechanism.
Described gas ZHUANLIAN is provided with, in connecing set square, the passage passed through for gas circuit and signal line.
Described rotating mechanism includes that rotary cylinder and the rotary cylinder for being connected on truss by rotary cylinder connect
Set square.
Described rotary cylinder is provided with buffer.
Described gas pawl is provided with for detecting the clamping of gas pawl and the proximity transducer of releasing orientation.
Described finger uses copper material to make.
Compared with prior art, the invention have the advantages that
1) hold-down mechanism can when gas pawl unclamps by Work-sheet pressing on jig, and then avoiding workpiece wrong
While Wei, prevent truss to be subject to extra additional force, and then increase the service life.
2) it is configured with two gas pawls to hold down assembly, it is possible to reduce the waiting time of lathe during loading and unloading, improves lathe
Efficiency.
3) compact conformation: bindiny mechanism is the least, pipeline and circuit all pass through inside connecting plate, it is to avoid line
Other mechanisms and lathe internal structure are disturbed when being positioned at outside in road.
4) action stability is high: additionally increase buffer gear, it is ensured that the stability that rotary cylinder puts in place.
5) positioning precision is high: hold-down mechanism ensure that gas pawl first unclamps during jig clamps again, work
Part is without departing from position.
6) good to the protectiveness of workpiece: use copper material with the finger of absorption surface, will not steel workpiece again
Impression is left on machined surface.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Wherein: 1, truss connecting plate, 2, buffer, 3, rotary cylinder connect set square, 4, rotary cylinder,
5, gas ZHUANLIAN connects set square, and 6, gas ZHUANLIAN fishplate bar, 7, gas pawl, 8, hold-down mechanism, 9, finger connector,
10, workpiece, 11, finger.
Detailed description of the invention
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with the technology of the present invention side
Implement premised on case, give detailed embodiment and concrete operating process, but the protection model of the present invention
Enclose and be not limited to following embodiment.
A kind of clutch captures automatic mechanical hand, as it is shown in figure 1, include:
Finger mechanism, for grabbing workpiece 10；
Mechanical hand main body, is connected with finger mechanism and truss respectively, is used for gripping finger mechanism, and driving at truss
Dynamic lower travelling workpiece 10；
Also include:
Hold-down mechanism 8, is located on finger mechanism, for after mechanical hand main body unclamps finger mechanism, by workpiece 10
It is pressed on jig to avoid workpiece 10 to misplace, it is ensured that mechanical hand main body first unclamps what jig clamped again
During, while workpiece 10 is without departing from position, truss also will not be by extra additional force.
Finger mechanism includes for finger connector 9 with for the finger 11 of grabbing workpiece 10, finger connector 9
It is connected with mechanical hand main body.
Mechanical hand main body includes the rotating mechanism being connected with truss, and for capturing the pneumatic gripper mechanism of finger mechanism,
Pneumatic gripper mechanism is connected with rotating mechanism, and hold-down mechanism is connected with pneumatic gripper mechanism.
Pneumatic gripper mechanism, finger mechanism and hold-down mechanism 8 are sequentially connected with and constitute a gas pawl clamp assembly, automatization
Mechanical hand includes two gas pawl clamp assemblies altogether, and two gas pawl clamp assemblies are all connected with rotating mechanism；
During loading and unloading, after the finished work-piece 10 on jig is taken out by a gas pawl clamp assembly, by whirler
Structure rotates 180 °, and the blank workpiece 10 captured in advance is put in jig, so by another gas pawl 7 again
The waiting time of lathe can be reduced, improve the efficiency of lathe.
Pneumatic gripper mechanism includes that gas pawl 7, the gentle ZHUANLIAN of gas ZHUANLIAN fishplate bar 6 connect set square 5, and gas pawl 7 passes sequentially through gas
The gentle ZHUANLIAN of ZHUANLIAN fishplate bar 6 connects set square 5 and is connected with rotating mechanism.
Gas ZHUANLIAN is provided with the passage passed through for gas circuit and signal line, the pipeline of gas pawl 7 and letter in connecing set square 5
All from connecting, set square is internal to be passed through number circuits etc., it is to avoid circuit disturbs inside other mechanisms and lathe when being positioned at outside
Structure.
Rotating mechanism includes that rotary cylinder 4 and the rotary cylinder for being connected on truss by rotary cylinder 4 connect three
Gusset 3, rotary cylinder is connected set square 3 and is connected with truss by truss connection version 1.
Rotary cylinder 4 is provided with buffer 2, and buffer 2 is positioned at rotary cylinder 4 both sides, buffer 2 mainly by
Hydraulic bjuffer 2 realizes buffering, it is possible to improve that rotary cylinder 4 internal damping mechanism is unreliable and putting in place or not causing
Steady present situation.The size of cushion effect is regulated by the position of regulation buffer 2.
Gas pawl 7 is provided with for detecting gas pawl 7 clamping and the proximity transducer of releasing orientation, the most each gas pawl
It is furnished with two proximity transducers on 7, it is possible to sense the clamping of paw and unclamp two states, makes guarantee control system
System will not be made mistakes, the air inlet of this exogenous QI pawl 7 and giving vent to anger all by the clamping of throttle valve control gas pawl 7 and the speed unclamped
Degree, it is ensured that steady during clamping and unclamping.
Connect set square and be aluminum alloy material, it is possible to ensure the intensity of connecting plate, use aluminium alloy can reduce machine
The weight of tool hands, finger 11 uses copper material to make, and copper finger 11 is by finger 11 connecting plate and gas pawl
Clamping block on 7 connects, and finger 11 uses copper material, will not leave pressure on the machined surface of steel workpiece 10 again
Trace, finger 11 connecting plate is steel material, it is ensured that have higher fatigue strength and rigidity.
After workpiece 10 is moved to the setting position on jig by truss, gas pawl 7 first unclamps, and workpiece 10 is at bullet
Under the effect of spring force, by hold-down mechanism 8, workpiece 10 is pressed on jig, it is ensured that the accurate position of workpiece 10
Putting constant, workpiece 10 is clamped by jig afterwards, because this seasonal epidemic pathogens pawl 7 is also at releasing orientation, lathe presss from both sides
The clamping force of tool will not make truss be subject to extra additional force.
Claims (10)
1. clutch captures an automatic mechanical hand, including:
Finger mechanism, for grabbing workpiece；
Mechanical hand main body, is connected with finger mechanism and truss respectively, is used for gripping finger mechanism, and driving at truss
Dynamic lower travelling workpiece；
It is characterized in that, also include:
Hold-down mechanism, is located on finger mechanism, for after mechanical hand main body unclamps finger mechanism, by Work-sheet pressing
To avoid workpiece to misplace on jig.
A kind of clutch the most according to claim 1 captures automatic mechanical hand, it is characterised in that described
Finger mechanism includes for finger connector with for the finger of grabbing workpiece, described finger connector and mechanical hand master
Body connects.
A kind of clutch the most according to claim 1 captures automatic mechanical hand, it is characterised in that described
Mechanical hand main body includes the rotating mechanism being connected with truss, and for capturing the pneumatic gripper mechanism of finger mechanism, described
Pneumatic gripper mechanism is connected with rotating mechanism, and described hold-down mechanism is connected with pneumatic gripper mechanism.
A kind of clutch the most according to claim 3 captures automatic mechanical hand, it is characterised in that described
Pneumatic gripper mechanism, finger mechanism and hold-down mechanism are sequentially connected with and constitute a gas pawl clamp assembly, described automatization machine
Tool hands includes two gas pawl clamp assemblies altogether, and two gas pawl clamp assemblies are all connected with rotating mechanism；
During loading and unloading, after the finished work-piece on jig is taken out by a gas pawl clamp assembly, rotating mechanism revolve
Turning, the blank workpiece captured in advance is put in jig by another gas pawl again.
A kind of clutch the most according to claim 3 captures automatic mechanical hand, it is characterised in that described
Pneumatic gripper mechanism includes that gas pawl, the gentle ZHUANLIAN of gas ZHUANLIAN fishplate bar connect set square, and described gas pawl passes sequentially through gas ZHUANLIAN fishplate bar
Gentle ZHUANLIAN connects set square and is connected with rotating mechanism.
A kind of clutch the most according to claim 5 captures automatic mechanical hand, it is characterised in that described
Gas ZHUANLIAN is provided with the passage passed through for gas circuit and signal line in connecing set square.
A kind of clutch the most according to claim 3 captures automatic mechanical hand, it is characterised in that described
Rotating mechanism includes that rotary cylinder and the rotary cylinder for being connected on truss by rotary cylinder connect set square.
A kind of clutch the most according to claim 7 captures automatic mechanical hand, it is characterised in that described
Rotary cylinder is provided with buffer.
A kind of clutch the most according to claim 5 captures automatic mechanical hand, it is characterised in that described
Gas pawl is provided with for detecting the clamping of gas pawl and the proximity transducer of releasing orientation.
A kind of clutch the most according to claim 2 captures automatic mechanical hand, it is characterised in that described
Finger uses copper material to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610589661.1A CN105965532A (en) | 2016-07-25 | 2016-07-25 | Automatic mechanical arm for grabbing clutch |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610589661.1A CN105965532A (en) | 2016-07-25 | 2016-07-25 | Automatic mechanical arm for grabbing clutch |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105965532A true CN105965532A (en) | 2016-09-28 |
Family
ID=56950701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610589661.1A Pending CN105965532A (en) | 2016-07-25 | 2016-07-25 | Automatic mechanical arm for grabbing clutch |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105965532A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393912A (en) * | 2018-05-17 | 2018-08-14 | 杭州亚太智能装备有限公司 | The pneumatic clamper assembly of truss Quick-change mechanism for manipulator fingers and installation finger quick-changing mechanism, gripper assembly |
| CN108927697A (en) * | 2018-10-10 | 2018-12-04 | 珠海格力智能装备有限公司 | Feeding structure and robot with it |
| CN110154070A (en) * | 2019-07-09 | 2019-08-23 | 吉林省中联试验机制造有限公司 | A kind of robot grabbing device for clutch cover and plate assembly transfer matic |
| CN110823526A (en) * | 2016-08-04 | 2020-02-21 | 彭爱勤 | Pluggable receiving and transmitting optical module automatic detection system |
-
2016
- 2016-07-25 CN CN201610589661.1A patent/CN105965532A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823526A (en) * | 2016-08-04 | 2020-02-21 | 彭爱勤 | Pluggable receiving and transmitting optical module automatic detection system |
| CN108393912A (en) * | 2018-05-17 | 2018-08-14 | 杭州亚太智能装备有限公司 | The pneumatic clamper assembly of truss Quick-change mechanism for manipulator fingers and installation finger quick-changing mechanism, gripper assembly |
| CN108393912B (en) * | 2018-05-17 | 2024-03-22 | 杭州亚太智能装备有限公司 | Truss manipulator finger quick-change mechanism, and gas claw assembly and finger assembly provided with same |
| CN108927697A (en) * | 2018-10-10 | 2018-12-04 | 珠海格力智能装备有限公司 | Feeding structure and robot with it |
| CN110154070A (en) * | 2019-07-09 | 2019-08-23 | 吉林省中联试验机制造有限公司 | A kind of robot grabbing device for clutch cover and plate assembly transfer matic |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160928 |
|
| WD01 | Invention patent application deemed withdrawn after publication |