CN109702227A - Paw device - Google Patents
Paw device Download PDFInfo
- Publication number
- CN109702227A CN109702227A CN201711009849.5A CN201711009849A CN109702227A CN 109702227 A CN109702227 A CN 109702227A CN 201711009849 A CN201711009849 A CN 201711009849A CN 109702227 A CN109702227 A CN 109702227A
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- Prior art keywords
- fixed plate
- gripper
- feeding
- paw device
- plate
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- Feeding Of Workpieces (AREA)
Abstract
The present invention relates to a kind of paw devices, for clamping long stick class workpiece in truss manipulator.Adjusting component, the rotary components being connect with the adjusting component and the material folding component being connect with the rotary components that the paw device includes pedestal, connect with the pedestal；The material folding component includes the blanking gripper of the fixed plate for connecting the rotary components, the feeding gripper of the connection fixed plate and the connection fixed plate；The fixed plate is equipped with bearing, and the feeding gripper is equipped with the guide rod for wearing the bearing, and elastic component is equipped between the fixed plate and the feeding gripper.The feeding gripper of paw device of the invention is during feeding, by the effect of guide rod, bearing and elastic component, can effectively offset the active force because generating when blank workpiece and lathe main shaft end face contact, reduce and impact to the rigid deformation of mechanical arm.
Description
Technical field
The present invention relates to technical field of automation equipment, more particularly to a kind of paw device.
Background technique
With the rapid development of modern industry, production automation has become theme outstanding, in processing, carrying, assembly etc.
In industrial production, many stations are the pickup and placement operation of workpiece, these operations generally require following characteristics: flexible movements,
It is simple and reliable and repeated big.
It is directed to above-mentioned demand, occurs a large amount of manipulator in the market, but most manipulator all lacks
Expect buffer structure；When manipulator is when carrying out feeding operation, the excessive rigid contact of workpiece and lathe spindle end face is be easy to cause
It causes Z axis arm to deform, reduces production efficiency.
Summary of the invention
Based on this, it is necessary to be easy to happen clamping empty the technical issues of expecting for existing manipulator, providing one kind has
The paw device of feeding detection function.
In order to achieve the object of the present invention, the invention adopts the following technical scheme:
A kind of paw device, for clamping long stick class workpiece in truss manipulator, the paw device include pedestal, with
The adjusting component of the pedestal connection, the rotary components being connect with the adjusting component and the folder being connect with the rotary components
Expect component；The material folding component includes the fixed plate for connecting the rotary components, the feeding gripper of the connection fixed plate and connects
Connect the blanking gripper of the fixed plate；The fixed plate is equipped with bearing, and the feeding gripper is equipped with the guiding for wearing the bearing
Bar is equipped with elastic component between the fixed plate and the feeding gripper.
The feeding gripper of paw device of the present invention is during feeding, by the effect of guide rod, bearing and elastic component,
The active force because generating when blank workpiece and lathe main shaft end face contact can be effectively offset, reduces and the rigidity of mechanical arm is become
Shape impact.
The pedestal is equipped with sliding slot in one of the embodiments, and the adjusting component includes connecting the rotation group
The sliding part of part, the sliding part are installed in the sliding slot.
The pedestal is equipped with fixation hole in one of the embodiments, and the sliding part is equipped with the first threaded hole, described solid
It is corresponding with first threaded hole to determine hole.
The adjusting component further includes air blowing plate and adjustment plate in one of the embodiments, and the air blowing plate is installed on
The pedestal side and it is equipped with the second threaded hole, so that the first adjusting screw wears the connection sliding part, the adjustment plate peace
Loaded on the pedestal other side and it is equipped with third threaded hole, so that the second adjusting screw wears the connection sliding part.
The air blowing plate is equipped with interconnected through-hole in one of the embodiments, and the through-hole is worn with air supply pipe
It places.
The rotary components include mounting plate and the rotary pneumatic that connect with the mounting plate in one of the embodiments,
Cylinder, the mounting plate connect the sliding part, and the rotary cylinder connects the fixed plate of the material folding component.
The V-shaped setting of the fixed plate in one of the embodiments, the feeding gripper are installed on the fixed plate one
End, the blanking gripper are installed on the other end of the fixed plate.
On the feeding gripper includes the feeding bottom plate for connecting the fixed plate and is described in one of the embodiments,
First cylinder of material bottom plate connection and the first material folding finger being connect with first cylinder；The feeding bottom plate is close to described
The side of fixed plate is set there are three guide rod, and the fixed plate sets that there are three bearings backwards to the side of the feeding gripper, described
Guide rod wears the bearing.
In one of the embodiments, the first material folding finger include connect first cylinder the first finger section and
The first finger pad block connecting with first finger section, first finger section are rigid material, the first finger pad block
For flexible material.
In one of the embodiments, the blanking gripper include connect second cylinder second-hand's segment and with institute
The first finger pad block of second-hand's segment connection is stated, second-hand's segment is rigid material, and the second finger cushion block is soft
Property material.
Detailed description of the invention
Fig. 1 is the schematic diagram of the paw device of a better embodiment of the invention；
Fig. 2 is another angle schematic diagram of the paw device of Fig. 1；
Fig. 3 is the explosive view of the paw device of Fig. 1；
Drawing reference numeral explanation:
100, paw device；
10, pedestal, 11, bottom plate, 12, extension board, 121, fixation hole, 13, sliding slot；
20, component is adjusted, 21, sliding part, the 211, first threaded hole, 22, air blowing plate, the 221, second threaded hole, 222, logical
Hole, 23, adjustment plate, 231, third threaded hole, 24, connecting plate；
30, rotary components, 31, mounting plate, 32, rotary cylinder, 321, rotating member；
40, material folding component, 41, fixed plate, 411, bearing, 42, feeding gripper, 421, feeding bottom plate, 421a, guide rod,
422, the first cylinder, the 423, first material folding finger, 423a, the first finger section, 423b, the first finger pad block, 43, blanking gripper,
431, the second cylinder, the 432, second material folding finger, 432a, second-hand's segment, 432b, second finger cushion block, 44, elastic component；
50, blank workpiece, 60, finished work-piece.
Specific embodiment
It to facilitate the understanding of the present invention, below will be to invention is more fully described.But the present invention can be to be permitted
Mostly different form is realized, however it is not limited to embodiment described herein.On the contrary, purpose of providing these embodiments is makes
It is more thorough and comprehensive to the understanding of the disclosure.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
It please refers to Fig.1 to Fig.3, is the paw device 100 of a better embodiment of the invention, for clamping truss manipulator
In long stick class workpiece.Paw device 100 of the invention is including pedestal 10, the adjusting component 20 connecting with pedestal 10 and adjusts
The rotary components 30 that component 20 connects and the material folding component 40 being connect with rotary components 30.Material folding component 40 includes connection rotation
The fixed plate 41 of component 30, the feeding gripper 42 for being connected and fixed plate 41 and the blanking gripper 43 for being connected and fixed plate 41；Fixed plate 41
Equipped with bearing 411, feeding gripper 42 is equipped with the guide rod 421a for wearing bearing 411, and between fixed plate 41 and feeding gripper 42
Equipped with elastic component 44.When feeding gripper 42 carries out feeding processing to lathe spindle, feeding gripper 42 passes through compression elastic piece 44,
To offset the active force because generating when blank workpiece 50 and lathe main shaft end face contact, the rigid deformation to mechanical arm is reduced
Impact.
Pedestal 10 includes bottom plate 11 and from outwardly extending two extension board 12 of 11 opposite sides of bottom plate, extension board 12 and bottom plate
Mounting groove is surrounded between 11, Z axis arm connection of the mounting groove for manipulator；Meanwhile pedestal 10 is backwards to the one of mounting groove
Side is equipped with sliding slot 13, which is placed with for adjusting component 20；Extension board 12 is equipped with the corresponding fixation hole for adjusting component 20
121, component 20 is adjusted with so that fixing screws (not shown) connects, plays the role of secured adjusted component 20.Wherein, it installs
The size dimension of slot can carry out corresponding design processing, and pedestal according to the aluminum profile of different size in each quasi-truss manipulator
10 with the connection of sliding part without being modified, it is ensured that structure minimum is applicable in paw device 100 in the case where changing more
The workpiece of the truss mechanical arm of model and more types of different sizes, versatility and compatibility are higher.
It adjusts component 20 to connect with pedestal 10, which includes sliding part 21, air blowing plate 22 and adjustment plate 23.Its
In, sliding part 21 is installed in the sliding slot 13 of pedestal 10, is able to carry out opposite slide back and forth；The sliding part 21 passes through a connection
Plate 24 connects rotary components 30；Meanwhile sliding part 21 is equipped with the first threaded hole 211, first spiral shell close to the two sides of extension board 12
The fixation hole 121 of the corresponding extension board 12 of pit 211.
Air blowing plate 22 is installed on the side of pedestal 10, which sets in the present embodiment there are two the second threaded hole
221, the second threaded hole 221 connects sliding part 21 with for the first adjusting screw (not shown), passes through and pushes first to adjust screw
To mobile sliding part 21.Meanwhile air blowing plate 22 top and side be equipped with interconnected through-hole 222, wherein being located at top
Tracheae (not shown) of the through-hole 222 to connect Z axis arm, (figure is not to connect gas blow pipe for the through-hole 222 positioned at side
Show), and gas blow pipe is respectively aligned to material folding component 40 and lathe main shaft end, it is ensured that tracheae can by solenoid valve control air-flow,
Finished work-piece is grabbed to blank workpiece 50 and lathe spindle and blanking gripper 43 when for feeding gripper 42 to lathe spindle feeding
Air blowing processing is carried out when 60, blows away iron filings and cutting fluid, to reduce iron filings and cutting fluid to the feeding precision of feeding gripper 42
The precision for grabbing finished work-piece 60 with blanking gripper 43 influences.
Adjustment plate 23 is installed on side of the pedestal 10 far from air blowing plate 22, and there are two adjustment plate 23 sets in the present embodiment
Third threaded hole 231；The third threaded hole 231 connects sliding part 21 with for the second adjusting screw (not shown), passes through promotion
Second adjusts screw to mobile sliding part 21.When the 42 station center of feeding gripper of material folding component 40 and machine tool chief axis are deviateed
When, not pass through mobile machine tool in the case where, by connection sliding part 21 first adjust screw and second adjust screw into
The movement that row draws or pushes away, so that the position of mobile sliding part 21, promotes 42 station position of feeding gripper to be aligned with machine tool chief axis, when
Sliding part 21 is worn by fixing screws again after adjusting, plays the role of fixed sliding part 21, prevents sliding part 21 from deviating,
It can make the eased convenience of later period installation and debugging work.
Rotary components 30 are connect with component 20 is adjusted, which includes mounting plate 31 and connect with mounting plate 31
Rotary cylinder 32；Wherein, mounting plate 31 is equipped with opening, and the mounting plate 31 is vertical with the connecting plate 24 for adjusting component 20 to be connect, energy
Enough and sliding part 21 synchronizes movement, to drive the movement of material folding component 40；The side of rotary cylinder 32 and fixing seat 41
Connection, the rotating member 321 of the rotary cylinder 32 connect the fixed plate 41 of material folding component 40 by the opening of mounting plate 31；In this reality
It applies in example, by adjusting the buffer of rotary cylinder 32, rotary cylinder 32 is promoted to toggle under the control of solenoid valve, thus
Switch of working position is carried out to feeding gripper 42 and blanking gripper 43.
Material folding component 40 is connect with rotary components 30, and material folding component 40 connect upper including fixed plate 41, with fixed plate 41
Material gripper 42 and the blanking gripper 42 being connect with fixed plate 41.Fixed plate 41 is equipped with groove, the size dimension of the groove and rotation
The rotating member 321 of cylinder 32 is corresponding；Fixed plate 41 in the present embodiment it is V-shaped setting and both ends angle be 60 °, feeding gripper
42 and blanking gripper 43 be respectively arranged in the both ends of fixed plate 41；Wherein fixed plate 41 is equipped with three backwards to the side of feeding gripper 42
A bearing 411.
Feeding gripper 42 include feeding bottom plate 421, the first cylinder 422 for being connect with feeding bottom plate 421 and with the first cylinder
First material folding finger 423 of 422 connections；The feeding gripper 42 is to carry out feeding clamping processing to blank workpiece 50.
Feeding bottom plate 421 is equipped with guide rod 421a, in embodiment, the number of guide rod 421a close to the side of fixed plate 41
Amount is three；Three guide rod 421a wear three bearings 411 of fixed plate 41 respectively, and guide rod 421a and fixed plate 41 it
Between be equipped with elastic component 44, the elastic component 44 in the present embodiment be spring；Wherein guide rod 421a is set close to one end of bearing 411
There is convex block (not shown), can prevent guide rod 421a from skidding off.It is to be understood that in guide rod 421a, bearing 411 and elastic component
Under the action of 44, feeding gripper 42 forms compressible stability triangle type structure；When feeding gripper 42 is giving lathe spindle feeding
When, the active force because generating when blank workpiece 50 and lathe main shaft end face contact can be offset, is reduced to the rigid of mechanical arm Z axis
Property deformation impact.
First material folding finger 423 is split type structure, and the first material folding finger 423 includes the first finger section 423a and with first
First finger pad block 423b of finger section 423a connection.Wherein, the first finger section 423a connects the first cylinder by screw mode
422, first finger section 423a is steel material in the present embodiment, it is ensured that the first finger section 423a intensity with higher and
It is unlikely to deform, it can be understood as, in other embodiments, the first finger section 423a can be other rigid with good strength
Property material；The size dimension of first finger section 423a can accordingly be designed according to workpiece outer diameter.First finger pad block 423b is logical
It crosses screw mode and the first finger section 423a is installed, to clamp blank workpiece；First finger pad block 423b is in the present embodiment
For nylon material, it can be avoided and scrape damage blank workpiece 50 when contacting with blank workpiece 50；First finger pad block 423b can be used as easily
Part is damaged, it is at low cost and be conveniently replaceable；In other embodiments, the first finger pad block 423b can be other flexible materials.
Blanking gripper 43 includes the second cylinder 431 and the second material folding finger 432 for connecting the second cylinder 431, the blanking hand
Pawl 43 is to carry out blanking clamping processing to finished work-piece 60.Second cylinder 431 is connected and fixed plate 41 by screw mode；Second
Material folding finger 432 is split type structure, and the second material folding finger 432 includes second-hand's segment 432a and connects with second-hand's segment 432a
The second finger cushion block 432b connect.Wherein, second-hand's segment 432a connects the second cylinder 431, the second-hand by screw mode
Segment 432a is steel material in the present embodiment, it is ensured that second-hand's segment 432a intensity with higher and is unlikely to deform；?
In other embodiments, second-hand's segment 432a can be other rigid materials with good strength；Second-hand's segment 432a
Size dimension can accordingly be designed according to workpiece outer diameter.Second finger cushion block 432b installs second finger by screw mode
Section 432a, to clamp finished work-piece 60；Second finger cushion block 432b is nylon material in the present embodiment, can be avoided with
Finished work-piece 60 scrapes damage finished work-piece 60 when contacting；Second finger cushion block 432b can be used as vulnerable part, at low cost and be conveniently replaceable；
In other embodiments, second finger cushion block 432b can be other flexible materials.
Each union piece of paw device 100 and 32 center of rotary cylinder are through-hole, promote the signal wire of tracheae can
Passed through from center, avoid signal wire and tracheae caused because the outside of paw device 100 is arranged in other mechanical interferences, can have
Effect prevents the torsion of Pipeline, improves the life and reliability of pipeline.
When work, paw device 100 is moved to above charging tray station by mechanical hand-motion Z axis, and rotary cylinder 32 passes through electricity
The ventilation treatment of magnet valve, by the rotation of feeding gripper 42 to station vertically downward；Solenoid valve ventilation treatment again, passes through the first cylinder
422 open feeding gripper 42, and the feeding gripper 42 of paw device 100 moves up into blank workpiece 50 under passing through slowly and clamps model
It encloses, feeding gripper 42 is clamped blank workpiece 50 by the first cylinder 422, and paw device 100 completes blank workpiece 50 at this time
Clamping work.
The movement for then passing through X-axis and Z axis, drives paw device 100 to reach inside lathe, rotary cylinder 32 passes through electromagnetism
The ventilation treatment of valve, by the rotation of blanking gripper 43 to station vertically downward, mobile Z axis is suitable for holding the arrival of blanking gripper 43
Distance, the second cylinder 431 promote blanking gripper 43 to press from both sides the finished work-piece 60 on lathe spindle by solenoid valve control
It holds；Subsequent lathe spindle unclamps clamping jaw, and blanking gripper 43 is moved back towards X-axis, clamps finished work-piece 60 successfully from lathe spindle
Get off, blanking gripper 43 completes the work of 60 blanking of finished work-piece at this time.
60 ° are rotated by solenoid valve control rotary cylinder 32 again, feeding gripper 42 is switched into station vertically downward, gripper
Device 100 is mobile toward machine tool chief axis direction in Z axis, and blank workpiece 50 continues to be moved along few when touching lathe spindle end face
Perhaps；During Z axis is mobile, guide rod 421a is moved on bearing 411, so that the compression of elastic component 44 is generated pre-jacking force, to make hair
Base workpiece 50 closes closer with lathe main shaft end face paste, and lathe spindle clamping jaw closure clamps blank workpiece 50 at this time, gripper dress
Set the 100 clamping work for completing blank workpiece 50；Last paw device 100 exits in lathe under the movement of X-axis and Z axis
The finished work-piece of blanking gripper 43 60 is simultaneously placed on the vacant station on charging tray by portion.
The feeding gripper of paw device of the invention passes through the work of guide rod, bearing and elastic component during feeding
With can effectively offset the active force generated by blank workpiece and when lathe main shaft end face contact, reduce to the rigid of mechanical arm
Property deformation impact.Meanwhile the paw device is additionally provided with adjusting component, by the mobile sliding part adjusted on component, to make
Expect position and the machine tool chief axis centering of gripper station, it is ensured that later period installation and debugging work more simple and convenient；Paw device single fortune
The work of workpiece loading and unloading can be completed in row, saves time and efficient stable.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.For those of ordinary skill in the art, this is not being departed from
Under the premise of inventive concept, various modifications and improvements can be made, and these are all within the scope of protection of the present invention.Therefore, originally
The scope of protection shall be subject to the appended claims for patent of invention.
Claims (10)
1. a kind of paw device, for clamping long stick class workpiece in truss manipulator, it is characterised in that: the paw device packet
Include pedestal, the adjusting component that is connect with the pedestal, the rotary components being connect with the adjusting component and with the rotary components
The material folding component of connection；The material folding component includes the feeding of the fixed plate for connecting the rotary components, the connection fixed plate
The blanking gripper of gripper and the connection fixed plate；The fixed plate is equipped with bearing, and the feeding gripper is equipped with and wears the axis
The guide rod held is equipped with elastic component between the fixed plate and the feeding gripper.
2. paw device according to claim 1, it is characterised in that: the pedestal is equipped with sliding slot, the adjusting component
Sliding part including connecting the rotary components, the sliding part are installed in the sliding slot.
3. paw device according to claim 2, it is characterised in that: the pedestal is equipped with fixation hole, and the sliding part is set
There is the first threaded hole, the fixation hole is corresponding with first threaded hole.
4. paw device according to claim 2, it is characterised in that: the adjusting component further includes air blowing plate and adjustment
Plate, the air blowing plate are installed on the pedestal side and are equipped with the second threaded hole, so that the first adjusting screw is worn described in connection
Sliding part, the adjustment plate are installed on the pedestal other side and are equipped with third threaded hole, so that the second adjusting screw wears company
Connect the sliding part.
5. paw device according to claim 4, it is characterised in that: the air blowing plate is equipped with interconnected through-hole, institute
It states through-hole and placement is worn with air supply pipe.
6. paw device according to claim 2, it is characterised in that: the rotary components include mounting plate and with the peace
The rotary cylinder of loading board connection, the mounting plate connect the sliding part, and the rotary cylinder connects the institute of the material folding component
State fixed plate.
7. paw device according to claim 1, it is characterised in that: the V-shaped setting of fixed plate, the feeding gripper
It is installed on described fixed plate one end, the blanking gripper is installed on the other end of the fixed plate.
8. paw device according to claim 1, it is characterised in that: the feeding gripper includes connecting the fixed plate
Feeding bottom plate, the first cylinder being connect with the feeding bottom plate and the first material folding finger being connect with first cylinder；It is described
Feeding bottom plate is set close to the side of the fixed plate there are three guide rod, and the fixed plate is set backwards to the side of the feeding gripper
There are three bearing, the guide rod wears the bearing.
9. paw device according to claim 8, it is characterised in that: the first material folding finger includes connection described first
First finger section of cylinder and the first finger pad block connecting with first finger section, first finger section are rigid material
Material, the first finger pad block are flexible material.
10. paw device according to claim 1, it is characterised in that: the blanking gripper includes connecting second gas
Second-hand's segment of cylinder and the first finger pad block connecting with second-hand's segment, second-hand's segment are rigid material,
The second finger cushion block is flexible material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711009849.5A CN109702227B (en) | 2017-10-25 | 2017-10-25 | Paw device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711009849.5A CN109702227B (en) | 2017-10-25 | 2017-10-25 | Paw device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109702227A true CN109702227A (en) | 2019-05-03 |
| CN109702227B CN109702227B (en) | 2020-08-28 |
Family
ID=66252130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711009849.5A Expired - Fee Related CN109702227B (en) | 2017-10-25 | 2017-10-25 | Paw device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109702227B (en) |
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| CN205852831U (en) * | 2016-06-24 | 2017-01-04 | 林如秋 | A kind of rotating machine arm |
| CN106113000A (en) * | 2016-07-21 | 2016-11-16 | 深圳市凯昇科技有限公司 | A kind of multifunction automatic blowing mechanical hand |
| CN205996652U (en) * | 2016-08-30 | 2017-03-08 | 津上精密机床（浙江）有限公司 | A kind of handling equipment and the knife tower crane applying this device |
| CN206474961U (en) * | 2016-10-21 | 2017-09-08 | 苏州蓝帆精密部件有限公司 | A kind of automatic rotation jaw |
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| CN109702227B (en) | 2020-08-28 |
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