CN110524565A - A kind of robot device grabbing adaptation board - Google Patents
A kind of robot device grabbing adaptation board Download PDFInfo
- Publication number
- CN110524565A CN110524565A CN201910884792.6A CN201910884792A CN110524565A CN 110524565 A CN110524565 A CN 110524565A CN 201910884792 A CN201910884792 A CN 201910884792A CN 110524565 A CN110524565 A CN 110524565A
- Authority
- CN
- China
- Prior art keywords
- adaptation board
- push rod
- positioning sleeve
- grabbing
- mounting base
- 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
Links
- 230000006978 adaptation Effects 0.000 title claims abstract description 49
- 238000000926 separation method Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot devices for grabbing adaptation board, the adaptation board being connect including manipulator and side with cylinder body, the other side of the adaptation board is equipped with location hole, it is located at the location hole two sides on the adaptation board and is equipped with pin hole, the manipulator is equipped with mounting base, the mounting base is equipped with positioning sleeve compatible with the location hole, the side of the positioning sleeve is equipped with the locating part for capableing of radial motion, the hole wall of the location hole is equipped with being capable of card slot compatible with the locating part, the crowded push rod to offset with the inner end of the locating part is equipped in the positioning sleeve, the mounting base is equipped with the driving device for driving the crowded push rod sliding.The robot device of crawl adaptation board of the invention, carrying cylinder body is convenient, manipulator and adaptation board fast adaptation and positioning, high-efficient；Cooperation and convenient separation, firm and reliable connection are highly-safe.
Description
Technical field
The present invention relates to engine components mounting technique fields, more specifically, it relates to a kind of machine for grabbing adaptation board
Tool arm device.
Background technique
Former workshop uses crane handling cylinder body, tipper turning over cylinder, to realize the work requirements in different posies, with setting
Standby upgrading update, is realized using robot manipulation now and carries and overturn.It is suitable to need to design a kind of robot crawl
The manipulator of matching board.Cylinder body is connected with the corresponding hole location of adaptation board tooling, applied robot carries, turning over cylinder arrives to reach
Different station.
Summary of the invention
The technical problem to be solved by the present invention is to be directed to the above-mentioned deficiency of the prior art, the object of the present invention is to provide one kind
The robot device of convenient in carrying, high-efficient crawl adaptation board.
To achieve the above object, the present invention provides a kind of robot devices for grabbing adaptation board, including manipulator and one
The adaptation board that side is connect with cylinder body, the other side of the adaptation board are equipped with location hole, are located at the location hole on the adaptation board
Two sides are equipped with pin hole, and the manipulator is equipped with mounting base, and the mounting base is equipped with positioning compatible with the location hole
Set, the side of the positioning sleeve are equipped with the locating part for capableing of radial motion, the hole wall of the location hole be equipped with can with it is described
The compatible card slot of locating part, the positioning sleeve is interior to be equipped with the crowded push rod to offset with the inner end of the locating part, the mounting base
It is equipped with the driving device for driving the crowded push rod sliding.
Further, the driving device is air cylinder device, and the piston rod of the air cylinder device is connect with the crowded push rod.
Further, the card slot is the annular groove on the location hole hole wall.
As a further improvement, the locating part is ball structure, and the side of the positioning sleeve has been evenly arranged multiple
The slope for being equipped with and being adapted with the ball structure is narrowed in locating slot compatible with the ball structure, the front end of the crowded push rod
Mouth structure.
Further, the outside of the positioning sleeve is equipped with the limited step adaptable with the side of the adaptation board, institute
It states and is equipped with positioning spigot between the rear end of positioning sleeve and the mounting base.
Further, the stepped hole that front end is small, rear end is big is equipped in the positioning sleeve, the crowded push rod is and the rank
The rear end of the compatible stepped shaft structure in terraced hole, the crowded push rod is equipped with self-locking mechanism；The self-locking mechanism includes being set to squeeze to push away
Extruding spring between rod rear end and mounting base.
It is improved as further, the rear end of the crowded push rod is equipped with the connecting rod connecting with driving device, described to squeeze
Pressing spring is set in the connecting rod.
Further, the crowded push rod is connected by screw to connecting rod, the both ends of the crowded push rod be equipped with it is described
The compatible holding tank of connecting rod, screw.
Beneficial effect
Compared with prior art, the robot device of crawl adaptation board of the invention has the beneficial effect that: this crawl is suitable
Reasonable in design, the carrying cylinder body convenience of the robot device of matching board, manipulator and adaptation board fast adaptation and positioning, effect
Rate is high；Cooperation and convenient separation, firm and reliable connection are highly-safe.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the robot device of crawl adaptation board of the invention；
Fig. 2 is the partial sectional view of the robot device of crawl adaptation board of the invention；
Fig. 3 is the structural schematic diagram of adaptation board in the present invention.
In figure: 1, manipulator；2, cylinder body；3, adaptation board；301, location hole；302, pin hole；303, card slot；4, mounting base；
5, positioning sleeve；501, locating slot；502, limited step；6, locating part；7, push rod is squeezed；8, driving device；9, self-locking mechanism；10,
Connecting rod；11, holding tank.
Specific embodiment
With reference to the accompanying drawing, specific embodiments of the present invention will be described in detail, it is to be understood that guarantor of the invention
Shield range is not limited by the specific implementation.
A specific embodiment of the invention be such that as shown in Figure 1-3, it is a kind of grab adaptation board robot device,
Including the adaptation board 3 that manipulator 1 and side are connect with cylinder body 2, the other side of adaptation board 3 is equipped with location hole 301, on adaptation board 3
It is equipped with pin hole 302 positioned at 301 two sides of location hole, manipulator 1 is equipped with mounting base 4, and mounting base 4 is equipped with and 301 phase of location hole
The positioning sleeve 5 of adaptation, the side of positioning sleeve 5 are equipped with the locating part 6 for capableing of radial motion, and the hole wall of location hole 301 is equipped with energy
Enough card slots 303 compatible with locating part 6, positioning sleeve 5 is interior to be equipped with the crowded push rod 7 to offset with the inner end of locating part 6, mounting base 4
It is equipped with to drive and squeezes the driving device 8 that push rod 7 slides；Mounting base 4 is equipped with positioning pin 401 compatible with pin hole 302.Originally it grabs
Take in the robot device of adaptation board, cylinder body 2 is fixed on adaptation board 3, manipulator 1 make positioning sleeve 5 in mounting base 4,
Pin hole 302, location hole 301 on positioning pin 401 and adaptation board 3 cooperate, and are positioned, and prevent adaptation board 3 from rotating, driving device
8 drive crowded 7 forward slip of push rod, squeeze the locating part 6 on 5 side wall of positioning sleeve, make locating part 6 and 301 hole of location hole
Card slot 303 on wall engages, and can carry out axial limiting to adaptation board 3；It is set to due to mounting base 4 on the flip-arm of manipulator 1,
The control overturning wall movement of manipulator 1 can carry cylinder body 2.
In the robot device of this crawl adaptation board, positioning sleeve 5 is connect quickly with location hole 301, installation and convenient separation,
Firm and reliable connection.
In the present embodiment, driving device 8 is air cylinder device, and the piston rod of air cylinder device is connect with crowded push rod 7, passes through gas
Cylinder assembly driving, structure is simple, convenient for arrangement.
In the present embodiment, card slot 303 is the annular groove on 301 hole wall of location hole, and the section of annular groove is circular arc
Shape slot.
In the present embodiment, locating part 6 is ball structure, and the side of positioning sleeve 5 has been evenly arranged multiple and ball structure
Compatible locating slot 501, locating slot 501 are that the diameter being arranged on 5 side wall of positioning sleeve is less than the hole of ball structure, squeeze push rod
The divided edge structure for being equipped with and being adapted with ball structure is narrowed in 7 front end, by divided edge structure push locating part 6 radially slide and
Protrude from the outer wall of positioning sleeve 5.
In the present embodiment, the outside of positioning sleeve 5 is equipped with the limited step 502 adaptable with the side of adaptation board 3, positioning
It is equipped with positioning spigot between the rear end and mounting base 4 of set 5, makes positioning sleeve 5 and 4 perpendicular positioning of mounting base.
In the present embodiment, the stepped hole that front end is small, rear end is big is equipped in positioning sleeve 5, squeezing push rod 7 is mutually to fit with stepped hole
The stepped shaft structure matched, the rear end for squeezing push rod 7 are equipped with self-locking mechanism 9；Self-locking mechanism 9 includes being set to squeeze 7 rear end of push rod and installation
Extruding spring between seat 4 can hold out against crowded push rod 7 by squeezing spring, and ball structure is made to keep protruding from the outer of positioning sleeve 5
Wall；When positioning sleeve 5 and location hole 301 cooperate, ball structure is squeezed and radially-inwardly slides, and positions when ball structure reaches
When at the card slot 303 in hole 301, crowded push rod 7 is squeezed due to squeezing spring, ball structure is slided radially outward and matches with card slot 303
It closes, is limited in advance.Prevent air cylinder device cannot be normally-open and fall adaptation board 3, guarantee carry safety.
In the present embodiment, the rear end for squeezing push rod 7 is equipped with the connecting rod 10 connecting with driving device 8, squeezes spring and is arranged
In connecting rod 10.
In the present embodiment, it squeezes push rod 7 to be connected by screw to connecting rod 10, the both ends for squeezing push rod 7 are equipped with and connecting rod
10, the compatible holding tank 11 of screw.
In the present embodiment, inner chamfer structure is equipped at the aperture of location hole 301, be equipped at the shaft shoulder of positioning sleeve 5 with it is interior
The adaptable cone structure of chamfering structure, slides into convenient for ball structure in the card slot 303 of location hole 301.Inner chamfer structure and cone
Face structure is adapted, and is guaranteed that positioning sleeve 5 is completely embedded with location hole 301, is prevented loosening and cause to occur in the carrying of cylinder body 2
Collide abnormal sound.
The above is only the preferred embodiment of the present invention, it should be pointed out that for those skilled in the art, is not taking off
Under the premise of from structure of the invention, several modifications and improvements can also be made, these all will not influence the effect that the present invention is implemented
And patent practicability.
Claims (8)
1. a kind of robot device for grabbing adaptation board, including the adaptation board (3) that manipulator (1) and side are connect with cylinder body (2),
It is characterized in that, the other side of the adaptation board (3) is equipped with location hole (301), the location hole is located on the adaptation board (3)
(301) two sides be equipped with pin hole (302), the manipulator (1) be equipped with mounting base (4), the mounting base (4) be equipped with it is described
The compatible positioning sleeve (5) of location hole (301), the side of the positioning sleeve (5) are equipped with the locating part (6) for capableing of radial motion,
The hole wall of the location hole (301) be equipped with can with the locating part (6) compatible card slot (303), the positioning sleeve (5)
Interior to be equipped with the crowded push rod (7) to offset with the inner end of the locating part (6), the mounting base (4), which is equipped with, drives the crowded push rod
(7) driving device (8) slided.
2. a kind of robot device for grabbing adaptation board according to claim 1, which is characterized in that the driving device
It (8) is air cylinder device, the piston rod of the air cylinder device is connect with the crowded push rod (7).
3. a kind of robot device for grabbing adaptation board according to claim 1, which is characterized in that the card slot (303)
For the annular groove on the location hole (301) hole wall.
4. a kind of robot device for grabbing adaptation board according to claim 1 or 2 or 3, which is characterized in that the limit
Part (6) is ball structure, and the side of the positioning sleeve (5) has been evenly arranged multiple locating slots compatible with the ball structure
(501), the divided edge structure for being equipped with and being adapted with the ball structure is narrowed in the front end of the crowded push rod (7).
5. a kind of robot device for grabbing adaptation board according to claim 4, which is characterized in that the positioning sleeve (5)
Outside be equipped with the limited step (502) adaptable with the side of the adaptation board (3), the rear end of the positioning sleeve (5) and institute
It states and is equipped with positioning spigot between mounting base (4).
6. a kind of robot device for grabbing adaptation board according to claim 5, which is characterized in that the positioning sleeve (5)
Interior to be equipped with the stepped hole that front end is small, rear end is big, the crowded push rod (7) is stepped shaft structure compatible with the stepped hole, institute
The rear end for stating crowded push rod (7) is equipped with self-locking mechanism (9)；The self-locking mechanism (9) includes being set to squeeze push rod (7) rear end and mounting base
(4) the extruding spring between.
7. a kind of robot device for grabbing adaptation board according to claim 6, which is characterized in that the crowded push rod (7)
Rear end be equipped with the connecting rod (10) that connect with driving device (8), the extruding spring is set on the connecting rod (10).
8. a kind of robot device for grabbing adaptation board according to claim 7, which is characterized in that the crowded push rod (7)
It is connected by screw to connecting rod (10), the both ends of the crowded push rod (7) are equipped with compatible with the connecting rod (10), screw
Holding tank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910884792.6A CN110524565A (en) | 2019-09-19 | 2019-09-19 | A kind of robot device grabbing adaptation board |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910884792.6A CN110524565A (en) | 2019-09-19 | 2019-09-19 | A kind of robot device grabbing adaptation board |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110524565A true CN110524565A (en) | 2019-12-03 |
Family
ID=68669179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910884792.6A Pending CN110524565A (en) | 2019-09-19 | 2019-09-19 | A kind of robot device grabbing adaptation board |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110524565A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080223169A1 (en) * | 2007-03-13 | 2008-09-18 | Star Seiki Co. Ltd. | Robot arm coupling device |
| KR20090107421A (en) * | 2008-04-08 | 2009-10-13 | 가부시키가이샤 고베 세이코쇼 | Tool replacing device |
| CN101934524A (en) * | 2009-07-02 | 2011-01-05 | 中日龙(襄樊)机电技术开发有限公司 | Automatic quick-change fixture tray |
| WO2014156508A1 (en) * | 2013-03-29 | 2014-10-02 | ビー・エル・オートテック株式会社 | Master unit for tool exchange device |
| US20160236357A1 (en) * | 2015-02-16 | 2016-08-18 | Norgren Automation Solutions, Llc | Quick disconnect apparatus for modular tooling |
| WO2019012842A1 (en) * | 2017-07-10 | 2019-01-17 | パスカルエンジニアリング株式会社 | Robot arm coupling device |
| CN109605104A (en) * | 2019-01-16 | 2019-04-12 | 广西玉柴机器股份有限公司 | The positioning device in hole |
| CN210452768U (en) * | 2019-09-19 | 2020-05-05 | 广西玉柴机器股份有限公司 | Snatch manipulator device of adapter plate |
-
2019
- 2019-09-19 CN CN201910884792.6A patent/CN110524565A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080223169A1 (en) * | 2007-03-13 | 2008-09-18 | Star Seiki Co. Ltd. | Robot arm coupling device |
| KR20090107421A (en) * | 2008-04-08 | 2009-10-13 | 가부시키가이샤 고베 세이코쇼 | Tool replacing device |
| CN101934524A (en) * | 2009-07-02 | 2011-01-05 | 中日龙(襄樊)机电技术开发有限公司 | Automatic quick-change fixture tray |
| WO2014156508A1 (en) * | 2013-03-29 | 2014-10-02 | ビー・エル・オートテック株式会社 | Master unit for tool exchange device |
| US20160236357A1 (en) * | 2015-02-16 | 2016-08-18 | Norgren Automation Solutions, Llc | Quick disconnect apparatus for modular tooling |
| WO2019012842A1 (en) * | 2017-07-10 | 2019-01-17 | パスカルエンジニアリング株式会社 | Robot arm coupling device |
| CN109605104A (en) * | 2019-01-16 | 2019-04-12 | 广西玉柴机器股份有限公司 | The positioning device in hole |
| CN210452768U (en) * | 2019-09-19 | 2020-05-05 | 广西玉柴机器股份有限公司 | Snatch manipulator device of adapter plate |
Non-Patent Citations (1)
| Title |
|---|
| 盛永华: "《塑料成型及模具设计》", 30 November 2006, 华中科技大学出版社, pages: 106 - 112 * |
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