CN107160373A - It is a kind of to lift and mobile rotary machine hand - Google Patents
It is a kind of to lift and mobile rotary machine hand Download PDFInfo
- Publication number
- CN107160373A CN107160373A CN201710596261.8A CN201710596261A CN107160373A CN 107160373 A CN107160373 A CN 107160373A CN 201710596261 A CN201710596261 A CN 201710596261A CN 107160373 A CN107160373 A CN 107160373A
- Authority
- CN
- China
- Prior art keywords
- linear actuator
- clamping device
- lift
- rotary machine
- workpiece
- 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.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Lifted and mobile rotary machine hand the invention discloses a kind of, including elevating mechanism, the rotating mechanism of driving clamping device upset and the horizontal drive mechanism for promoting clamping device straight reciprocating motion that Holder, clamping device, driving clamping device rise or fall；The opposite linear actuator of two strokes of the clamping device including fixed mount, embedded fixed mount and tong；The elevating mechanism includes linear actuator and crane；The rotating mechanism include vane type motor and swivel plate；Workbench and workbench portable plate that the horizontal drive mechanism includes linear actuator, is connected with linear actuator output shaft.By being clamped to workpiece and then it being rotated by rotating mechanism, workpiece is put into specified location finally by horizontal drive mechanism by elevating mechanism rise；Whole device floor space is few, labor intensity that is simple in construction and can greatly reducing people.
Description
Technical field
It is more particularly to a kind of to lift and mobile rotary machine hand the present invention relates to the mechanical field of automated production.
Background technology
In production and processing field, it is necessary to be processed to each workpiece, wherein such as to exist by many programs
Bottle process during, it is necessary to bottom of bottle is typewrited, bottleneck is closed and body progress the process such as print, this is just needed
Bottle be clamped, overturn and move laterally to next process, so needing a kind of mechanical automation preferably mechanical
Hand meets many complicated processes, application number in current streamline：201410462041.2, it is entitled：Rotor is automatic
The invention of the rotary machine hand of assembly machine can solve the problem that clamping workpiece and be overturn, but can make workpiece when there is revolution
The problem of being rubbed with conveyor surface, rotation can not be realized for the big parts of bottom area at all, and can not
Horizontal direction movement workpiece position.
The content of the invention
It is an object of the invention to overcome the shortcoming and deficiency of prior art there is provided one kind to clamp workpiece,
Vertical direction is overturn again after rising, while the lifting of workpiece position and the rotary machine hand of movement can be moved horizontally precisely.
The purpose of the present invention is achieved through the following technical solutions：It is a kind of to lift and mobile rotary machine hand, including bear
Rotating mechanism and push away that frame, clamping device, the elevating mechanism, the driving clamping device that drive clamping device to rise or fall are overturn
The horizontal drive mechanism of dynamic clamping device straight reciprocating motion；The clamping device includes fixed mount, is embedded in two of fixed mount
The opposite linear actuator of stroke, the tong connected with corresponding linear actuator output shaft；The elevating mechanism includes fixing
In the linear actuator of Holder and the crane being connected with the linear actuator output shaft；The rotating mechanism includes fixing
Vane type motor on the crane and the swivel plate being connected with vane type motor output shaft, the swivel plate and fixation
Frame is fixedly connected；The horizontal drive mechanism include linear actuator, the workbench that is connected with the linear actuator output shaft with
And the workbench portable plate being slidably connected with workbench, the Holder fixation is on the table.
As preferred embodiment, the fixed mount is provided with tong loose slot, and the tong is slided with tong loose slot
Coordinate, the tong surface is provided with two protruding plates.
As preferred embodiment, described two protrusion plate surfaces are designed with multiple tracks groove.
It is used as preferred embodiment, baffle plate of the crane provided with a limitation vane type motor stroke, institute
Swivel plate is stated provided with a lug, left and right end of the lug in left and right rotation respectively with baffle plate is abutted.
It is used as preferred embodiment, buffer of the described workbench portable plate one end provided with limitation table stroke.
As preferred embodiment, the buffer is spring buffer.
As preferred embodiment, all linear actuators are that pneumatic linear actuator or hydraulic linear are held
Row device, the vane type motor is vane type air motor or vane type hydraulic motor.
As preferred embodiment, the linear actuator of the horizontal drive mechanism is provided with current limiter.
As preferred embodiment, the Holder is vertical provided with two in the top of the linear actuator of elevating mechanism
The confinement block of distribution, crane fixes a portable plate behind, and the portable plate is arranged on the activity sky that two confinement blocks are surrounded
Between in.
The control method for the rotary machine hand for lifting and moving includes following steps：1st, clamping device passes through tong pair
Workpiece is clamped；2nd, elevating mechanism rises clamping device so that workpiece rise comes；3rd, rotating mechanism makes workpiece
Rotate to specified angle；4th, horizontal drive mechanism makes workpiece be moved horizontally to above specified location；5th, elevating mechanism makes processing
Part declines；6th, clamping device unloads workpiece to specified location by tong.
The present invention has the following advantages and effect relative to prior art：Elevating mechanism can add in gripping means grips
Rise to come after workpiece, and specified angle is rotated to workpiece progress by rotating mechanism, then pass through horizontal drive mechanism pair
Workpiece carries out horizontal level and moves through elevating mechanism declining clamping device, the tong of last clamping device unclamp and plus
Workpiece is put into specified location, is put down so as to realize the upset to workpiece and be accurately positioned, simple in construction and brief sky
Between, while reducing the labor intensity of people.
Brief description of the drawings
Fig. 1 is the front view of lifting and mobile rotary machine hand.
Fig. 2 is the side view of lifting and mobile rotary machine hand in Fig. 1.
Fig. 3 is the stereogram of clamping device.
Fig. 4 is the attachment structure figure of rotating mechanism and crane.
Fig. 5 is the attachment structure figure of elevating mechanism and Holder.
Embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
A kind of lifting as shown in Figure 1 and Figure 2 and the rotary machine hand of movement, including Holder 1, clamping device 2, drive
Move elevating mechanism 3, the rotating mechanism 4 and promotion clamping device of the driving upset of clamping device 2 that clamping device 2 rises or falls
The horizontal drive mechanism 5 of 2 straight reciprocating motions；The workpiece 6 that the clamping device 2 is sent to transport mechanism is pressed from both sides
Tightly, clamping device 2 is made to increase by elevating mechanism 3, then rotating mechanism 4 is overturn to clamping device 2 turns over workpiece 6 simultaneously
Turn, the processing in upset face can be now carried out to workpiece 6, workpiece 6 is moved horizontally simultaneously finally by horizontal drive mechanism 5
Specified location is put into, such as：On conveyer belt in next process.The clamping device 2 includes fixed mount 21, embedded fixed mount
The opposite linear actuator 22 of 21 two strokes, the tong 23 connected with the output shaft of corresponding linear actuator 22, wherein,
The opposite linear actuator 22 of two strokes makes two tongs 23 separate or close in mutual motion process, realizes two folders
Hand 23 is clamped or put down to workpiece 6；The elevating mechanism 3 include be fixed on Holder 1 linear actuator 31 and
The crane 32 being connected with the output shaft of linear actuator 31, elevating mechanism 3 makes the rise of workpiece 6 come in favor of rotating mechanism 4
Workpiece 6 is overturn；The rotating mechanism 4 includes the vane type motor 41 and and leaf being fixed on the crane 32
The swivel plate 42 of the output shaft connection of wheel-motor 41, the swivel plate 42 is fixedly connected with fixed mount 21, it is therefore an objective to pass through leaf
The rotation of wheel-motor 41 drives the rotation of swivel plate 42 to rotate fixed mount 21, and the rotation of clamping device 2 is so as to reach upset workpiece 6
Purpose；The workbench 52 that the horizontal drive mechanism 5 includes linear actuator 51, is connected with the output shaft of linear actuator 51
And the workbench portable plate 53 being slidably connected with workbench 52, the Holder 1 is fixed on workbench 52, linear actuator
51 when moving back and forth, by driving workbench 52 to be moved back and forth on workbench portable plate 53 so that workpiece 6 is sent
Put down above to specified location and by clamping device 2, clamping device 2 is recovered initial position, so as to prepare to repeat
Row next round holding action.
As shown in figure 3, the output shaft due to tong 23 directly with linear actuator 22 connects and passes through linear actuator 22
Output shaft has accepted the weight of workpiece, and this, which can produce the active force downward to the output shaft of linear actuator 22, makes linear execution
The shaft distortion of device 22, can shorten the service life of linear actuator 22.In order that the activity of clamping device 2 freely and can be clamped heavier
Workpiece 6, the fixed mount 21 is provided with tong loose slot 24, and the tong 23 is slidably matched and carries with tong loose slot 24
Most of weight of workpiece 6.In order to convenient clamping workpiece 6, the surface of tong 23 is provided with two protruding plates
231, meanwhile, in order to increase the frictional force of protruding plate 231 and workpiece 6, facilitate tong 23 to clamp workpiece 6, described two
The individual surface of protruding plate 231 is designed with multiple tracks groove 232.
As shown in figure 4, because some parts need respectively to be processed upper and lower surfaces, this is accomplished by after upset
The precise positioning of parts, therefore, baffle plate 321 of the crane 32 provided with a limitation stroke of vane type motor 41,
The swivel plate 42 is provided with a lug 421, left and right end of the lug 421 in left and right rotation respectively with baffle plate 321
Abut, by limiting the stroke of vane type motor 41, make swivel plate 42 can only 180 degree rotation so that parts accurately upset 180
Degree.
When workbench 52 is moved on workbench portable plate 53, by limiting the stroke of linear actuator 51 to meet folder
Tight device 2 is just moved to required position, in order to prevent workpiece 6 from being stopped by impact, the workbench portable plate 53 1
Two buffers 54 of the end provided with the limitation stroke of workbench 52.In the present embodiment, the buffer 54 is spring buffer, but
It is not limited.
The rotary machine hand for lifting and moving can use pneumatic system to be hydraulic system, in the present embodiment,
The linear actuator 22, linear actuator 31, linear actuator 51 are pneumatic linear actuator, and the vane type motor 41 is
Vane type air motor, but be not limited, so linear actuator 22, linear actuator 31, linear actuator 51, vane type
Motor 41 can be fluid pressure type.
In order to control the action speed of linear actuator 51, the upper end of linear actuator 51 is provided with current limiter 55,
Speed of the control to the air-flow of linear actuator 51 is realized by the aperture of valve in limiter 55, so that it is defeated to limit linear actuator 51
Shaft action speed, reaching prevents the translational speed of workpiece 6 too fast and occurs unexpected.
As shown in figure 5, the Holder 1 is in confinement block 33 of the top of linear actuator 31 provided with two vertical distributions,
Space between two confinement blocks 33 surrounds the activity space 34 of crane 32, therefore, an activity is fixed in the behind of crane 32
Plate 35, the portable plate 35 is arranged in activity space 34, and is slided in activity space 34, and two confinement blocks 33 are respectively from upper
Lower direction limits the stroke of portable plate 35.
The operating method for the rotary machine hand for lifting and moving includes following steps：1st, two lines of clamping device 2
Property actuator 22 output shaft toward close to direction motion, and workpiece 6 is clamped by tong 23；2nd, elevating mechanism 3
Linear actuator 31 acts and rises clamping device 2 so that the rise of workpiece 6 comes, and the height of rise is by the confinement block 33 of top
Limitation；3rd, the rotation of vane type motor 41 of rotating mechanism 4 rotates workpiece 6, and lug 421 abuts the limitation leaf of baffle plate 321
The stroke of wheel-motor 41, and workpiece 6 is realized accurate 180 degree rotation；4th, the linear actuator 51 of horizontal drive mechanism 5 makes
Workpiece 6 is moved horizontally, and the logical limitation stroke of linear actuator 51 of buffer 54 simultaneously enters row buffering to workbench 52, so that processing
Part 6 is fixed on above specified location；5th, the action of linear actuator 31 of elevating mechanism 3 is moved downward, and declines workpiece 6, under
Drop height is limited by the confinement block 33 of lower section；6th, the output shaft of two linear actuators 22 of clamping device 2 is toward away from direction fortune
It is dynamic, and workpiece 6 is unloaded to specified location by tong 23.
Above-described embodiment is preferably embodiment, but embodiments of the present invention are not by above-described embodiment of the invention
Limitation, other any Spirit Essences without departing from the present invention and the change made under principle, modification, replacement, combine, simplification,
Equivalent substitute mode is should be, is included within protection scope of the present invention.
Claims (10)
1. a kind of lift and mobile rotary machine hand, it is characterised in that：Including Holder, clamping device, driving clamping device
Elevating mechanism, the rotating mechanism of driving clamping device upset and the promotion clamping device straight reciprocating motion risen or fallen
Horizontal drive mechanism；The clamping device include fixed mount, the opposite linear actuator of two strokes of embedded fixed mount, with it is right
The tong for the linear actuator output shaft connection answered；The elevating mechanism include be fixed on Holder linear actuator and with
The crane of linear actuator output shaft connection；The rotating mechanism includes the vane type motor being fixed on the crane
And the swivel plate being connected with vane type motor output shaft, the swivel plate is fixedly connected with fixed mount；The horizontal drive machine
Structure includes linear actuator, the workbench being connected with the linear actuator output shaft and the workbench being slidably connected with workbench
Portable plate, the Holder is fixed on the table.
2. according to claim 1 lift and mobile rotary machine hand, it is characterised in that：The fixed mount is provided with tong
Loose slot, the tong is slidably matched with tong loose slot, and the tong surface is provided with two protruding plates.
3. according to claim 2 lift and mobile rotary machine hand, it is characterised in that：Described two protrusion plate surfaces
It is designed with multiple tracks groove.
4. according to claim 1 lift and mobile rotary machine hand, it is characterised in that：The crane is provided with one
The baffle plate of the vane type motor stroke is limited, the swivel plate is provided with a lug, and the lug divides in left and right rotation
Do not abutted with the left and right end of baffle plate.
5. according to claim 1 lift and mobile rotary machine hand, it is characterised in that：The workbench portable plate one
Buffer of the end provided with limitation table stroke.
6. according to claim 5 lift and mobile rotary machine hand, it is characterised in that：The buffer is slow for spring
Rush device.
7. according to claim 1 lift and mobile rotary machine hand, it is characterised in that：All linear execution
Device is pneumatic linear actuator or hydraulic linear actuator, and the vane type motor is vane type air motor or vane type
Hydraulic motor.
8. according to claim 1 lift and mobile rotary machine hand, it is characterised in that：The horizontal drive mechanism
Linear actuator is provided with current limiter.
9. according to claim 1 lift and mobile rotary machine hand, it is characterised in that：The Holder is in lift
Confinement block of the top of the linear actuator of structure provided with two vertical distributions, crane fixes a portable plate, the work behind
Dynamic plate is arranged in the activity space that two confinement blocks are surrounded.
10. lift and the control method of mobile rotary machine hand includes following steps：1st, clamping device passes through tong pair
Workpiece is clamped；2nd, elevating mechanism rises clamping device so that workpiece rise comes；3rd, rotating mechanism makes workpiece
Rotate to specified angle；4th, horizontal drive mechanism makes workpiece be moved horizontally to above specified location；5th, elevating mechanism makes processing
Part declines；6th, clamping device unloads workpiece to specified location by tong.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710596261.8A CN107160373A (en) | 2017-07-20 | 2017-07-20 | It is a kind of to lift and mobile rotary machine hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710596261.8A CN107160373A (en) | 2017-07-20 | 2017-07-20 | It is a kind of to lift and mobile rotary machine hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107160373A true CN107160373A (en) | 2017-09-15 |
Family
ID=59817992
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710596261.8A Withdrawn CN107160373A (en) | 2017-07-20 | 2017-07-20 | It is a kind of to lift and mobile rotary machine hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107160373A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702861A (en) * | 2019-02-26 | 2019-05-03 | 泉州市德化县丰弘机械有限公司 | A kind of ceramic body formation system |
| CN110093879A (en) * | 2019-06-17 | 2019-08-06 | 上海海事大学 | A kind of full-automatic roadblock recycling and placing device and its method |
| CN110976955A (en) * | 2019-12-19 | 2020-04-10 | 新昌县利果机械有限公司 | Intelligent control device for machining size of thrust cylindrical roller bearing |
-
2017
- 2017-07-20 CN CN201710596261.8A patent/CN107160373A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109702861A (en) * | 2019-02-26 | 2019-05-03 | 泉州市德化县丰弘机械有限公司 | A kind of ceramic body formation system |
| CN110093879A (en) * | 2019-06-17 | 2019-08-06 | 上海海事大学 | A kind of full-automatic roadblock recycling and placing device and its method |
| CN110976955A (en) * | 2019-12-19 | 2020-04-10 | 新昌县利果机械有限公司 | Intelligent control device for machining size of thrust cylindrical roller bearing |
| CN110976955B (en) * | 2019-12-19 | 2020-11-13 | 台州浙盛轴承科技有限公司 | Intelligent control device for machining size of thrust cylindrical roller bearing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170915 |
|
| WW01 | Invention patent application withdrawn after publication |