CN202462409U - Paw of workpiece picking up robot used in casting - Google Patents
Paw of workpiece picking up robot used in casting Download PDFInfo
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- CN202462409U CN202462409U CN2012200532796U CN201220053279U CN202462409U CN 202462409 U CN202462409 U CN 202462409U CN 2012200532796 U CN2012200532796 U CN 2012200532796U CN 201220053279 U CN201220053279 U CN 201220053279U CN 202462409 U CN202462409 U CN 202462409U
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- paw
- flange
- replacing device
- fast replacing
- automatic fast
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Abstract
The utility model provides a paw of a workpiece picking up robot used in casting and belongs to the technical field of casting. The paw comprises a paw main body, a connecting flange fixedly connected with the paw main body and a quick changing block arranged on the connecting flange; and a locating hole and a locking projection are arranged on the quick changing block, the locating hole is used for locating the paw on an automatic quick changing device of the paw, and the locking projection is used for locking and fixing the paw on the automatic quick changing device of the paw. The paw is cooperatively used with the automatic workpiece picking up quick changing device of the workpiece picking up robot, the change process of the paw relative to the workpiece picking up robot is safe and quick, the labor intensity of the worker is low, and the operation efficiency of the workpiece picking up robot can be greatly improved.
Description
Technical field
The utility model belongs to casting technology field, relates to employed pickup robot in the casting, relates in particular to the paw of pickup robot.
Background technology
In the process of casting, particularly in aluminium alloy and other die cast metal technology, owing to die casting machine die sinking and matched moulds process hazardous, and product temperature is higher after the die sinking, therefore, all has the difficult problem of artificial pickup (from mould, taking out foundry goods) in the casting process.In order to raise the efficiency the labor savings cost, the robot that is widely used at present carries out pickup, and this robot also is commonly referred to " pickup robot ".
In the pickup robot of existing use; Comprise the terminal paw that is used to grasp foundry goods (or be called " manipulator "); Paw usually passes through bolted on the robotic end flange, and the holding wire of paw braking desired compression air pipe line and limit switch etc. is directly drawn by electric box one end of robot and is connected to paw.
But owing to produce dissimilar cast products, the shape of foundry goods changes according to product type, therefore, correspondingly need use dissimilar paws.Normally, when the cast product type of die casting machine production changes, need change paw.In the robot that uses at present, when needs carry out the paw replacing, must unclamp the fastening bolt on the flange and dismantle tracheae and holding wire etc., corresponding again again the installation.Therefore, existing pickup robot efficient is extremely low, and because the paw of pickup robot is heavier, security incident takes place very easily in the replacing process.
The utility model content
The purpose of the utility model is, proposes the paw of a kind of pickup robot, so that realize the quick replacing of paw with respect to the pickup robot.
For realizing above purpose or other purposes, the utility model provides a kind of paw, is used for the clamping foundry goods, and it fixedly places in the pickup robot that casting uses through the automatic fast replacing device of paw, and said paw comprises:
The paw body;
The adpting flange that is connected with said paw body-fixed; And
Be arranged on the quick change piece on the said adpting flange;
Wherein, said quick change piece is provided with locating hole and locking projection, and said locating hole is used for said paw is positioned at the automatic fast replacing device of said paw, and said locking projection is used for said paw is locked at the automatic fast replacing device of said paw.
According to the paw of the utility model one embodiment, wherein, said quick change piece is provided with crossover sub, when said crossover sub lock onto the automatic fast replacing device of said paw at said paw, engages with contact switch on the automatic fast replacing device of said paw.
Preferably, said locking projection is provided with respect to said quick change piece is protruding in the center position of said adpting flange in opposite directions.
According to the paw of the utility model one embodiment, wherein, the automatic fast replacing device of said paw comprises:
First flange, it places on the said pickup robot body;
Second flange, it is used for the paw of the said pickup of positioning and fixing robot;
Cylinder block, it places between said first flange and second flange and is used for forming cylinder jointly with said first flange and second flange;
Piston, it places said cylinder, and operationally is compressed gas-powered with at the first direction back and forth movement;
Sleeve, it places said second flange;
Locking pin, it places said sleeve, and operationally at the second direction back and forth movement so that the automatic fast replacing device of said paw clamps or the said paw that gets loose the vertical said first direction of said second direction;
Push rod, it is connected with said piston, and is used for motion transmission to the said locking pin along said first direction, so that said relatively second flange of said locking pin is done the centrifugal motion along said second direction; And
Alignment pin, it is arranged on said second flange and is used for the said paw of positioning and fixing.
The technique effect of the utility model is; Avoided the process that removes and installs complicated in paw replacing process, and can be through the automatic fast replacing device of pickup of the said pickup of cooperation robot, with compressed gas-driven piston, push rod, locking pin etc.; Automatically realize " getting loose " and " clamping " process of paw; The replacing process safety of the relative pickup of paw robot, quick, labor strength is low, and can improve the rate of transferring of pickup robot greatly.
Description of drawings
From the following detailed description that combines accompanying drawing, will make the above-mentioned of the utility model clear more fully with other purposes and advantage, wherein, same or analogous key element adopts identical label to represent.
Fig. 1 is the paw and the structural representation of the automatic fast replacing device of paw when getting loose state of the pickup robot that provides according to the utility model one embodiment;
Fig. 2 is the paw and the structural representation of the automatic fast replacing device of paw when locking state of the pickup robot that provides according to the utility model one embodiment.
The specific embodiment
What introduce below is some in maybe embodiment of the utility model a plurality of, aims to provide the basic understanding to the utility model, is not intended to confirm the crucial or conclusive key element of the utility model or limit claimed scope.Understand easily, according to the technical scheme of the utility model, under the connotation that does not change the utility model, but one of ordinary skill in the art can propose other implementations of mutual alternative.Therefore, the following specific embodiment and accompanying drawing only are the exemplary illustrations to the technical scheme of the utility model, and should not be regarded as the whole of the utility model or be regarded as qualification or the restriction to the utility model technical scheme.
In this paper describes, user tropism's term (for example " on ", D score, " left side " and " right side " etc.) and the various structure embodiment that describe of similar terms represent the direction that the direction shown in the accompanying drawing perhaps can be it will be apparent to those skilled in the art that.These directional terminology are used for relative description and clarification, rather than will the orientation of any embodiment be limited to concrete direction or orientation.
Paw and the structural representation of the automatic fast replacing device of paw when getting loose state for the pickup robot that provides according to the utility model one embodiment shown in Figure 1; Paw and the structural representation of the automatic fast replacing device of paw when locking state for the pickup robot that provides according to the utility model one embodiment shown in Figure 2.The pickup robot is used for from mould, taking out foundry goods at casting process, and in this embodiment, the pickup robot is used for the extrusion process process, and combines to use with die casting machine, for example, after die sinking, foundry goods is taken out.The paw of pickup robot is used for the clamping foundry goods, and in this embodiment, it can be fixedly connected on (at clamped condition) pickup robot body through the automatic fast replacing device of paw.Because different cast product types need be used dissimilar paws and carries out clamping, therefore, when the cast product type of producing at die casting machine changes, need change the pickup robot corresponding paw is installed.The automatic fast replacing device of paw can be realized the following function that is disclosed in the installing and replacing process of paw.
Consult Fig. 1 and Fig. 2, primarily, paw comprises paw body 210; Adpting flange 220 is fixedly connected on the said paw body 210, and the quick change piece 230 that is provided with on the adpting flange 220 is provided with locating hole 231 in the quick change piece 230; Locating hole 231 is used for when paw is fixedly installed in the pickup robot; Alignment pin 151 in the automatic fast replacing device of coupling paw on the end of quick change piece 230, is provided with locking projection 232; Locking projection 232 is provided with respect to quick change piece 230 convexities in the adpting flange center position in opposite directions, and locking projection 232 cooperates the locking pin 142 in the automatic fast replacing device of paws can lock paw.
The automatic fast replacing device of paw is arranged on the body of pickup robot, and it comprises first flange 110 and the cylinder block 120 and second flange 150 that can be fixed in the pickup robot, and cylinder block 120 places between first flange 110 and second flange 150.In this embodiment; One end of cylinder block 120 is embedded on the flange protruding 111 of first flange 110; And its contact-making surface with first flange 110 engages hermetically, for example, on the face that can contact at the inner surface with cylinder block 120 of flange protruding 111 the sealing ring (not shown) is set.Equally, the other end of cylinder block 120 is embedded on the flange protruding 152 of second flange 150, and its contact-making surface with second flange 150 engages hermetically.Therefore, first flange 110, cylinder block 120 and second flange 150 can jointly be used to form cylinder.
Further, be provided with piston 131 in the cylinder block 120 formed cylinders.In this illustrated example, form air chamber 1. between the flange of the piston 131 and first flange 110 protruding 111, form air chamber 2. between the flange of the piston 131 and second flange 150 protruding 152; 1. air chamber can be connected with Compressed Gas through the air flue 112 on first flange 110, and 2. air chamber can be connected with Compressed Gas through the pore on the cylinder block 120 121.
On the flange protruding 152 of second flange 150; Be provided with center cylindrical hole; Piston 131 center cylindrical hole of cylinder block 120 and second flange 150 is relatively done motion up and down, and the power of this back and forth movement is provided by Compressed Gas, in description thereafter with specifying.
Preferably, on the surface that the center cylindrical hole inwall with second flange 150 of piston 131 contacts, the sealing ring (not shown) is set, on piston 131 and face that cylinder block 120 inner surfaces contact, the sealing ring (not shown) is set equally.
Be connected with push rod 132 on the piston 131, push rod can be synchronously made back and forth movement with piston 131 at above-below direction.In this example, realize being connected through spring catch between piston 131 and the push rod 132, spring catch can also prevent that the activity that cooperates tension to cause push rod 132 from having some setbacks and stuck.
Continue as depicted in figs. 1 and 2; Second flange 150 in opposite directions on the flange convexity of a side of paw; Be provided with centrifugal cylindrical hole, this centrifugal cylindrical hole is connected perpendicular to the center cylindrical hole of second flange 150 and with this center cylindrical hole basically, is provided with sleeve 141 in this centrifugal cylindrical hole; Sleeve 141 is used to hold locking pin 142, and locking pin 142 can be made horizontal back and forth movement as shown in the figure (making entad motion and centrifugal motion with respect to second flange 150) in sleeve 141.The interlock of motion up and down of this horizontal back and forth movement and push rod 132; In this embodiment; The top of push rod 132 (end that promptly contacts with locking pin 142) is configured to conical surface shape, preferably is set to cone shape, and the end that locking pin 142 contacts with push rod 132 is configured to ball head structure.When push rod 132 moved up and down, the conical surface promoted bulb and moves horizontally, thereby has realized by the transmission that moves up and down to horizontal movement.
The conical surface angle of cone structure can be arranged on 60 ° particularly, thereby can form about 30 ° taper surface, and the direction of motion of locking pin 142 is generally vertical with the direction of motion of push rod 132.
Continue as shown in Figure 2ly, second flange 150 is provided with some alignment pins 151 in opposite directions on the one side of paw.When paw was clamped, alignment pin 151 can mate the corresponding locating hole 231 that places paw in ground, therefore, can realize the location of the automatic fast replacing device of the relative paw of paw; And after locking pin 142 was by the level extrapolation, locking pin 142 can act on the locking projection 232, thereby can realize locking, and the automatic fast replacing device of paw clamps paw.
In a preferred embodiment, on the quick change piece 230 of paw, can the crossover sub (not shown) be set correspondence, crossover sub is provided with in second flange 150 in opposite directions; Correspondingly, correspondence contact quick change piece 230 parts at second flange 150 are provided with some contact switch.Through judging the signal condition that engages between crossover sub and the contact switch, can judge the state of paw with respect to the automatic fast replacing device of paw, can judge that whether paw is by " clamping "; When paw was clamped, crossover sub can correspondingly dock with contact switch, on the contrary, and the two disengaging; Signal condition between crossover sub and the contact switch is different.Further, dissimilar paws can be provided with the crossover sub of different numbers, and therefore, the number of the crossover sub on the quick change piece 230 is also inequality; When clamping, the number through judging that crossover sub engages with contact switch can be used for automatically discerning clamped paw type.
Further, preferably, on contact switch and crossover sub, can be provided with the nylon protective sleeve, prevent that the joint signal between the two from being disturbed.
For realizing the holding function of paw, need to use Compressed Gas to come power to be provided as clamping, therefore, among this embodiment, ventilation pin (not shown) can be set in second ring flange 150, therefore, Compressed Gas can get in the paw via this ventilation pin transmission.
Continue as depicted in figs. 1 and 2, the center cylindrical hole of second flange 150 in opposite directions with an end of paw through lid 160 sealings, on lid 160, be provided with angled slide block 170; Ejecting fast 170 is positioned on the flange projection of second flange through bolt 171; Between angled slide block 170 and lid 160, spring mechanism can be set, in the process that gets loose, this spring mechanism can provide power upwards for angled slide block 170; Thereby paw is ejected automatically, realize the automatic replacing of paw more easily.
Continue to combine illustrated in figures 1 and 2, the automatic fast replacing device of paw of the utility model be described and hold in hand between " getting loose " and " clamping " process, thereby the quick change process of paw is described.
As shown in Figure 1, at first, when paw need be changed, paw need get loose from the automatic fast replacing device of the paw of pickup robot.At this moment, compressed air can from pore 121 get in the cylinders air chamber 2., the stepping of going forward side by side go between locking pin 142 and the sleeve 141 air chamber 3. in; Compressed Gas can promote piston 131 and move downward, and simultaneously, Compressed Gas promotes the entad motion that locking pin 142 is made relative second flange 150 of direction as shown in the figure; Break away from until the locking projection 232 of locking pin 142 with quick change piece 230; Then, in the effect of angled slide block, paw can break away from from the paw fast replacing device automatically.At this moment, be separated from each other between the crossover sub of contact switch of installing on second flange 150 and installation above the quick change piece 230, can confirm through the signal between the two whether paw gets loose fully.
When the paw needs are clamped; When the also promptly new paw type of changing need be fixed in the pickup robot, 1. compressed air got into air chamber from the air flue 112 of first flange 110, and promotion piston 131 moves upward; Further driving push rod 132 moves upward; The cone structure on the top of push rod 132 acts on the ball head structure of locking pin 142, impels locking pin 142 to do the centrifugal motion of basic horizontal, until blocking quick change piece 230 to reach the purpose that clamps paw.When the automatic fast replacing device of paw and paw docked, alignment pin 151 can be realized accurate location, make between the two butt joint quick and precisely.After the clamping, contact switch of installing above second flange 150 and the corresponding combination of crossover sub of installing above the quick change piece 230, this signal can confirm whether paw correctly clamps, and judge the paw type through obtaining signal number (also being the number of crossover sub).
In a preferred embodiment; For preventing between paw and the automatic fast replacing device because the inefficacy of pneumatic braking causes accidental; Can also be in piston 131 set inside spring structure (not shown)s; So that locking pin 142 locking projection 232 to paw when locking state keeps active force (providing locking pin outside centrifugal force), the locking state that makes it to be in the normal state.
In a preferred embodiment; For preventing because cooperating tension to cause to move and have some setbacks between push rod 132 and the locking pin 142; Also spring structure can be set between locking pin 142 and the sleeve 141, it can be used for regulating the coordinate force between push rod 132 and the locking pin 142.
It will be appreciated that; In above illustrated embodiment; Only done detailed description, one skilled in the art will appreciate that a plurality of quick change pieces can be set on the paw with the structural relation between a locking pin and the quick change piece; The locking pin of a plurality of same structure types also can be set in the automatic fast replacing device of paw, and their concrete quantity can be set as the case may be.
Therefore; When using above embodiment at paw and the automatic fast replacing device of paw; Paw braking desired compression air and control signal etc. can realize through ventilation pin above the automatic fast replacing device of paw and contact switch; And ventilation pin and paw be rapid abutting joint accurately, has avoided the compressed air line of paw and holding wire directly to be connected with robot, will paw with bolted on the pickup robot.Paw and automatically can realize between the fast replacing device that clamping fast gets loose and realize easily paw automatically, fast, change.Automatic, the replacing fast of paw; Further can shorten the replacing time of robot hand in the castings production process greatly; (" mobility " English is called activation or utilization to have improved the machine mobility; The shared proportion of time that the equipment that is meant took for the creation of value in the time that can provide; It is meant production quantity that machinery equipment is possible and the ratio of actual production quantity), practiced thrift labor cost, more avoided the potential safety hazard of in changing the paw operation, being brought.
Above example has mainly been explained paw and the automatic fast replacing device of paw in the pickup robot of the utility model.Although only the embodiment to some of them the utility model is described, those of ordinary skills should understand, and the utility model can be in not departing from its purport and scope be implemented with many other forms.Therefore, example of being showed and embodiment are regarded as schematic and nonrestrictive, are not breaking away under the situation of liking defined the utility model spirit of each claim and scope enclosed, and the utility model possibly contained various modifications and replacement.
Claims (4)
1. a paw is used for the clamping foundry goods, and it fixedly places in the pickup robot that casting uses through the automatic fast replacing device of paw, and said paw comprises paw body (210), it is characterized in that, also comprises:
The adpting flange (220) that is fixedly connected with said paw body (210); And
Be arranged on the quick change piece (230) on the said adpting flange (220);
Said quick change piece (230) is provided with locating hole (231) and locking projection (232); Said locating hole (231) is used for said paw is positioned at the automatic fast replacing device of said paw, and said locking projection (232) is used for said paw is locked at the automatic fast replacing device of said paw.
2. paw as claimed in claim 1; It is characterized in that; Said quick change piece (230) is provided with crossover sub, when said crossover sub lock onto the automatic fast replacing device of said paw at said paw, engages with contact switch on the automatic fast replacing device of said paw.
3. according to claim 1 or claim 2 paw is characterized in that, said locking projection (232) in opposite directions in the center position of said adpting flange (220) with respect to the protruding setting of said quick change piece (230).
4. according to claim 1 or claim 2 paw is characterized in that, the automatic fast replacing device of said paw comprises:
First flange (110), it places on the said pickup robot body;
Second flange (150), it is used for the paw of the said pickup of positioning and fixing robot;
Cylinder block (120), it places between said first flange (110) and second flange (150) and is used for forming cylinder jointly with said first flange (110) and second flange (150);
Piston (131), it places said cylinder, and operationally is compressed gas-powered with at the first direction back and forth movement;
Sleeve (141), it places said second flange (150);
Locking pin (142), it places said sleeve (141), and operationally at the second direction back and forth movement so that the automatic fast replacing device of said paw clamps or the said paw that gets loose the vertical said first direction of said second direction;
Push rod (132), it is connected with said piston (131), and is used for motion transmission to the said locking pin (142) along said first direction, so that said relatively second flange of said locking pin (142) (150) is done the centrifugal motion along said second direction; And
Alignment pin (151), it is arranged on said second flange (150) and is used for the said paw of positioning and fixing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200532796U CN202462409U (en) | 2012-02-17 | 2012-02-17 | Paw of workpiece picking up robot used in casting |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012200532796U CN202462409U (en) | 2012-02-17 | 2012-02-17 | Paw of workpiece picking up robot used in casting |
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| CN202462409U true CN202462409U (en) | 2012-10-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012200532796U Expired - Fee Related CN202462409U (en) | 2012-02-17 | 2012-02-17 | Paw of workpiece picking up robot used in casting |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106232305A (en) * | 2014-03-17 | 2016-12-14 | F&P 个人通用机器人公司 | Gripper finger, grasping device end and grasping device pawl and robot system |
| CN106476025A (en) * | 2016-10-31 | 2017-03-08 | 哈尔滨展达机器人自动化有限责任公司 | A kind of fast-replaceable robot claw for polishing |
| CN106853565A (en) * | 2017-02-28 | 2017-06-16 | 武汉瑞松北斗汽车装备有限公司 | Wheel cover of automobile special type handgrip switch boards |
| CN106863298A (en) * | 2017-01-19 | 2017-06-20 | 昆山斯比得自动化设备有限公司 | A kind of automobile product pickup cleft hand |
| CN107052627A (en) * | 2017-02-28 | 2017-08-18 | 武汉瑞松北斗汽车装备有限公司 | Wheel cover of automobile special type handgrip |
| CN108258473A (en) * | 2017-12-30 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of isomorphism formula rapid replacing interface based on cooperation robot |
| CN108462094A (en) * | 2018-03-16 | 2018-08-28 | 国网陕西省电力公司电力科学研究院 | A kind of automatic quick-connect machanism of insulation module and connection disassembling method |
| CN110142799A (en) * | 2019-06-20 | 2019-08-20 | 苏州大学 | A kind of robot quick change joint arrangement |
-
2012
- 2012-02-17 CN CN2012200532796U patent/CN202462409U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106232305A (en) * | 2014-03-17 | 2016-12-14 | F&P 个人通用机器人公司 | Gripper finger, grasping device end and grasping device pawl and robot system |
| CN106232305B (en) * | 2014-03-17 | 2020-09-22 | F&P 个人通用机器人公司 | Gripper finger, gripper tip and gripper jaw and robot system |
| CN106476025A (en) * | 2016-10-31 | 2017-03-08 | 哈尔滨展达机器人自动化有限责任公司 | A kind of fast-replaceable robot claw for polishing |
| CN106863298A (en) * | 2017-01-19 | 2017-06-20 | 昆山斯比得自动化设备有限公司 | A kind of automobile product pickup cleft hand |
| CN106853565A (en) * | 2017-02-28 | 2017-06-16 | 武汉瑞松北斗汽车装备有限公司 | Wheel cover of automobile special type handgrip switch boards |
| CN107052627A (en) * | 2017-02-28 | 2017-08-18 | 武汉瑞松北斗汽车装备有限公司 | Wheel cover of automobile special type handgrip |
| CN106853565B (en) * | 2017-02-28 | 2018-04-27 | 武汉瑞松北斗汽车装备有限公司 | Wheel cover of automobile special type handgrip switch boards |
| CN108258473A (en) * | 2017-12-30 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of isomorphism formula rapid replacing interface based on cooperation robot |
| CN108258473B (en) * | 2017-12-30 | 2019-07-02 | 哈尔滨工业大学深圳研究生院 | A kind of isomorphism formula rapid replacing interface based on cooperation robot |
| CN108462094A (en) * | 2018-03-16 | 2018-08-28 | 国网陕西省电力公司电力科学研究院 | A kind of automatic quick-connect machanism of insulation module and connection disassembling method |
| CN110142799A (en) * | 2019-06-20 | 2019-08-20 | 苏州大学 | A kind of robot quick change joint arrangement |
| CN110142799B (en) * | 2019-06-20 | 2024-04-05 | 苏州大学 | Robot quick-change joint device |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121003 Termination date: 20180217 |