CN202105970U - Rivet-catching manipulator - Google Patents
Rivet-catching manipulator Download PDFInfo
- Publication number
- CN202105970U CN202105970U CN2011201343157U CN201120134315U CN202105970U CN 202105970 U CN202105970 U CN 202105970U CN 2011201343157 U CN2011201343157 U CN 2011201343157U CN 201120134315 U CN201120134315 U CN 201120134315U CN 202105970 U CN202105970 U CN 202105970U
- Authority
- CN
- China
- Prior art keywords
- rivet
- manipulator
- mechanical arm
- balladeur train
- support
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a rivet-catching manipulator, which is characterized by including a support; a sliding guide capable of moving along the support in a vertical direction; a mechanical arm with one end provided on the sliding guide and capable of circumferentially rotating; and foldable mechanical fingers which are provided on the other end of the mechanical arm. The rivet-catching manipulator can place rivets instead of manual operation so as to realize an accurate positioning of the rivets in an automatic manner; arrangement of the rivets at predetermined positions is achieved with a low error rate; and the rivet-catching manipulator avoids the manual operation, is labor-saving and guarantees security of operators.
Description
Technical field
The utility model relates to a kind of manipulator, belongs to field of mechanical technique.
Background technology
Transmitting, place rivet in the riveting set of the prior art is normally accomplished by operation manually; Manually sort out many rivets by operating personnel; Adjust the direction of rivet again, rivet direction as required is positioned on the workpiece, by riveting device rivet is carried out punching press again.Must guarantee the directionality of rivet and the location gap of each rivet when placing rivet, manually-operated can not guarantee to rivet product quality because of existing the human factor error rate higher, has increased percent defective, and the manually-operated inefficiency.And by manual work frequent operation in decompressor, operator safety property is difficult to guarantee.
The utility model content
The utility model technical problem to be solved provide a kind of replace placing manually rivet grab the rivet manipulator, accurate positioning is increased work efficiency, and guarantees operator safety property.
For solving the problems of the technologies described above, the utility model provides a kind of rivet manipulator of grabbing, and it is characterized in that, comprises
Support,
One balladeur train that can move up and down along said support,
One end is located at the mechanical arm that can circumferentially rotate on the said balladeur train,
But the machinery that is located at the opening and closing of the said mechanical arm other end refers to.
Said balladeur train is driven by drive unit.
Be respectively equipped with chute and the slide block that cooperatively interacts on said balladeur train and the said support.
Said mechanical arm is driven by rotary cylinder and does circumferentially to rotate.
Said rotary cylinder is located on the said balladeur train.
Said machinery refers to by the air cylinder driven opening and closing.
Said machinery refers to comprise a pair of cooperatively interacting and grasps the finger of rivet.
Vertically be provided with a groove on the mutual face in opposite directions of said finger.
The cross section of said groove is circular-arc.
Said machinery refers to or is one, or is more than two.
The beneficial effect that the utility model reached: the grabbing the rivet manipulator and can replace placing manually rivet of the utility model; Automatically realize the accurate location of rivet; Rivet is positioned over the precalculated position, and error rate is low, does not need manual work to operate; Save manpower, guaranteed safety of persons.
Description of drawings
Fig. 1 is the rivet manipulator one embodiment sketch map of the utility model;
Fig. 2 is the side view of Fig. 1;
Fig. 3 is finger one embodiment longitudinal sectional view;
Fig. 4 is the cross section view of Fig. 3.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is further described.Following examples only are used for more clearly explaining the technical scheme of the utility model, and can not limit the protection domain of the utility model with this.
Like Fig. 1, Fig. 2, Fig. 3, shown in Figure 4; The rivet machinery handbag of grabbing of the utility model contains support 1; Can be located at the mechanical arm that can circumferentially rotate 3 on the balladeur train 2 along a balladeur train 2, the end 31 that support 1 moves up and down, but the machinery that is located at the opening and closing of mechanical arm 3 other ends 32 refers to 4.
Balladeur train 2 is driven by drive unit.Preferable scheme is that drive unit adopts cylinder 21 to drive.
Be respectively equipped with chute and the slide block 5 that cooperatively interacts on balladeur train 2 and the support 1, perhaps slide block and chute make balladeur train 2 under cylinder 21 drives, can slide support 1 and slide up and down.
Machinery refer to 4 by cylinder 41 drive open, closure.
Machinery refers to that 4 comprise the finger 42 of a pair of extracting rivet that cooperatively interacts; Pair of finger can be opened or closure by an air cylinder driven simultaneously; Also can adopt two cylinders to drive every finger respectively, perhaps only use one of them realization in the air cylinder driven pair of finger to open or closed action.
Vertically be provided with a groove 43 on the finger 42 mutual faces in opposite directions.The cross section of groove 43 is circular-arc 44, and circular-arc 44 grooves 43 on every finger 42 can be semi-circular groove, also can be the circular-arc groove less than semicircle.Circular arc radian size is confirmed by the diameter of a circle size of an end of the rivet of needs extracting.
Machinery refers to 4 or be one, or is more than two, realizes simultaneously opening or closed.The number of rivets that grasps simultaneously as required, places is confirmed the quantity that machinery refers to.The spacing distance that the distance of being separated by between machinery refers to is placed by rivet is confirmed.
What adopt in the present embodiment is that two machineries refer to 4, grasps, places two rivets 6 simultaneously.
The course of work that grasps, places rivet:
The rivet top of having arranged direction, spacing distance by extractings such as rotary cylinder 33 driving device arms 3 rotate to stops (at this moment; Finger 42 is an open configuration when the processes of last extracting rivet finish), cylinder 21 drives the mechanical arm 3 that balladeur trains 2 drive on it and moves downward along support 1, waits to point 42 and stops when the rivet upper end having been held between two fingers 42 to coming downwards to; At this moment; 41 actions of cylinder that driving device refers to make finger 42 closures, with rivet grip in finger.The mechanical arm 3 that cylinder 21 driving balladeur trains 2 drive on it moves upward along support 1, walks to apical position and stops, rotary cylinder 33 actions; Driving device arm 3 rotates to the position that rivet need be set to be stopped, and cylinder 21 drives the mechanical arm 3 that balladeur trains 2 drive on it and moves downward along support 1, waits to point when 42 rivet touches on the face that rivet need be set to stop; At this moment; Cylinder 41 actions that driving device refers to are opened finger 42, and the rivet that is clipped in the finger 42 is decontroled.Cylinder 21 drives balladeur trains 2 and drives mechanical arm 3 on it and move upward along support 1 and get back to initial position, repeats the process that next grasps rivet.
The course of work is controlled by control device.
In order to limit, control the rotation of mechanical arm, stopping means 22 can also be set on balladeur train 2, after mechanical arm 3 touched stopping means 22 when rotating, stopping means 22 transferred to control device with signal, stops action by control device control rotary cylinder 33.
In other embodiments, can also sensor be set, the signal of gathering be transferred to control device, the course of work of rivet manipulator controlled by control device by sensor at corresponding each location point.
The above only is the preferred implementation of the utility model; Should be understood that; For those skilled in the art; Under the prerequisite that does not break away from the utility model know-why, can also make some improvement and distortion, these improvement and distortion also should be regarded as the protection domain of the utility model.
Claims (10)
1. grab the rivet manipulator for one kind, it is characterized in that, comprise
Support,
One balladeur train that can move up and down along said support,
One end is located at the mechanical arm that can circumferentially rotate on the said balladeur train,
But the machinery that is located at the opening and closing of the said mechanical arm other end refers to.
2. the rivet manipulator of grabbing according to claim 1 is characterized in that said balladeur train is driven by drive unit.
3. the rivet manipulator of grabbing according to claim 1 is characterized in that, is respectively equipped with chute and the slide block that cooperatively interacts on said balladeur train and the said support.
4. the rivet manipulator of grabbing according to claim 1 is characterized in that, said mechanical arm is driven by rotary cylinder and does circumferentially to rotate.
5. the rivet manipulator of grabbing according to claim 4 is characterized in that said rotary cylinder is located on the said balladeur train.
6. the rivet manipulator of grabbing according to claim 1 is characterized in that said machinery refers to by the air cylinder driven opening and closing.
7. the rivet manipulator of grabbing according to claim 1 is characterized in that, said machinery refers to comprise a pair of cooperatively interacting and grasps the finger of rivet.
8. the rivet manipulator of grabbing according to claim 7 is characterized in that, vertically is provided with a groove on the mutual face in opposite directions of said finger.
9. the rivet manipulator of grabbing according to claim 8 is characterized in that the cross section of said groove is circular-arc.
10. according to the described rivet manipulator of grabbing of above-mentioned any claim, it is characterized in that said machinery refers to or is one, or is more than two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201343157U CN202105970U (en) | 2011-05-02 | 2011-05-02 | Rivet-catching manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201343157U CN202105970U (en) | 2011-05-02 | 2011-05-02 | Rivet-catching manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202105970U true CN202105970U (en) | 2012-01-11 |
Family
ID=45431419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201343157U Expired - Fee Related CN202105970U (en) | 2011-05-02 | 2011-05-02 | Rivet-catching manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202105970U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102284668A (en) * | 2011-05-02 | 2011-12-21 | 苏州工业园区高登威科技有限公司 | Rivet grasping manipulator |
| CN104742113A (en) * | 2013-12-30 | 2015-07-01 | 常州中科智联机电科技有限公司 | Automated taking and feeding manipulator device |
| CN107824738A (en) * | 2017-12-14 | 2018-03-23 | 佛山市万良商贸有限公司 | A kind of adjustable rivet assembly equipment in multiaxis position |
-
2011
- 2011-05-02 CN CN2011201343157U patent/CN202105970U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102284668A (en) * | 2011-05-02 | 2011-12-21 | 苏州工业园区高登威科技有限公司 | Rivet grasping manipulator |
| CN104742113A (en) * | 2013-12-30 | 2015-07-01 | 常州中科智联机电科技有限公司 | Automated taking and feeding manipulator device |
| CN107824738A (en) * | 2017-12-14 | 2018-03-23 | 佛山市万良商贸有限公司 | A kind of adjustable rivet assembly equipment in multiaxis position |
| CN107824738B (en) * | 2017-12-14 | 2020-01-14 | 佛山市万良商贸有限公司 | Multi-shaft position-adjustable rivet assembling equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102284668A (en) | Rivet grasping manipulator | |
| CN202114538U (en) | Pneumatic control double-door protective device | |
| CN106584551B (en) | A kind of uniform cutter device of plastic uptake material | |
| CN202105970U (en) | Rivet-catching manipulator | |
| CN203919042U (en) | Mineral conveying robot | |
| CN104858861A (en) | Stacking mechanical arm | |
| CN104723068B (en) | The method of work of condenser elastic step nut fitting machine | |
| CN203171619U (en) | Efficient grabbing mechanism and grinding device | |
| CN105905603A (en) | Intelligent sorting arm and intelligent sorting machine | |
| CN203173782U (en) | Cap screwing device | |
| CN206048185U (en) | A kind of robot sorting unit for tearing back intelligent electric energy meter Automated Sorting System for many specifications open | |
| CN203418536U (en) | Material fetching and hanging manipulator for pipe bending machine | |
| CN204108649U (en) | A kind of annular knurl wire-drawing mechanism of aluminium lid | |
| CN202946053U (en) | Rod-exchanging device of rock drilling machine | |
| CN206321759U (en) | Multipurpose test system | |
| CN204916399U (en) | Automatic change control bag packing plant's bag framing mechanism | |
| CN204711507U (en) | A kind of riveting shell blind rivet automatic assembling machine | |
| CN206484654U (en) | A kind of label hole punched device | |
| CN205802442U (en) | Intelligent sorting arm and Intelligent sorting machine | |
| CN202246533U (en) | Automatic opener for insurance hook of iron cross arm of furnace door | |
| CN104455283B (en) | A kind of mobile controller overturning structure | |
| CN203210386U (en) | Manipulator grab mechanism with rotary structure | |
| CN108100612A (en) | A kind of control method of amount ink recorder circuit system | |
| CN205601433U (en) | Bookblock upset system that orders interlocking line glues | |
| CN203371496U (en) | Staple remover of staple |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120111 Termination date: 20130502 |