CN202964663U - Auxiliary manipulator used for product transfer and location correction between manipulators - Google Patents

Auxiliary manipulator used for product transfer and location correction between manipulators Download PDF

Info

Publication number
CN202964663U
CN202964663U CN 201220739358 CN201220739358U CN202964663U CN 202964663 U CN202964663 U CN 202964663U CN 201220739358 CN201220739358 CN 201220739358 CN 201220739358 U CN201220739358 U CN 201220739358U CN 202964663 U CN202964663 U CN 202964663U
Authority
CN
China
Prior art keywords
manipulator
product
jaws
clamping cylinder
aligning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn - After Issue
Application number
CN 201220739358
Other languages
Chinese (zh)
Inventor
胡斌
杨国华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
YUYAO JIALI MECHANICAL EQUIPMENT MANUFACTURING Co Ltd
Original Assignee
YUYAO JIALI MECHANICAL EQUIPMENT MANUFACTURING Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by YUYAO JIALI MECHANICAL EQUIPMENT MANUFACTURING Co Ltd filed Critical YUYAO JIALI MECHANICAL EQUIPMENT MANUFACTURING Co Ltd
Priority to CN 201220739358 priority Critical patent/CN202964663U/en
Application granted granted Critical
Publication of CN202964663U publication Critical patent/CN202964663U/en
Anticipated expiration legal-status Critical
Withdrawn - After Issue legal-status Critical Current

Links

Images

Abstract

The utility model discloses an auxiliary manipulator used for product transfer and location correction between manipulators. The auxiliary manipulator used for the product transfer and the location correction between the manipulators comprises a transverse pushing pneumatic rod and a movable first pneumatic clamp which comprises first clamping blocks, a first clamping cylinder, a rotary cylinder and a transverse moving base seat, wherein the first clamping blocks comprise a left clamping block and a right clamping block which are respectively connected with a pushing rod of the first clamping cylinder which is rotationally connected with the transverse moving base seat, a base plate is arranged on the upper side of the first clamping cylinder, and first clamping openings are formed between the base plate and the left clamping block and between the base plate and the right clamping block; the transverse pushing pneumatic rod is installed on the transverse moving base seat; and one end of the rotary cylinder is rotationally connected with the transverse moving base seat, and the other end of the rotary cylinder is rotationally connected with the first clamping cylinder. The auxiliary manipulator used for the product transfer and the location correction between the manipulators can adapt to clamping and correcting for regular straight form products and irregular form products, position accuracy of the products on the manipulator clamp is improved, and working efficiency is enhanced.

Description

A kind of between manipulator to the auxiliary manipulator of product transmission, aligning
Technical field
The utility model relates to the robotic device field, particularly a kind of between manipulator to the auxiliary manipulator of product transmission, aligning.
Background technology
Generally can only be used for transmitting the conventional products (type joint as straight in routine etc.) of straight line existing for the auxiliary manipulator between manipulator, picture some abnormally-structured (as perpendicular type joint and three-way connections etc.) can't transmit, and uses functional not high.And in use, may be not right to the position of product gripping because of the manipulator of last process, the gripping product space when causing manipulator to last process to be delivered to auxiliary manipulator also not to and cause and the transmission mistake reduced operating efficiency.
The utility model content
The technical problem that (one) will solve
The technical problems to be solved in the utility model be to propose a kind of between manipulator to the auxiliary manipulator of product transmission, aligning, correct with the gripping and the state that adapt to conventional straight type product and special-shaped product, improve the accuracy of product position on manipulator fixture.
(2) technical scheme
For addressing the above problem, the utility model proposes a kind of between manipulator to the auxiliary manipulator of product transmission, aligning, comprise horizontal promotion gas bar and the first air-actuated jaw movably.Described the first air-actuated jaw comprises the first fixture block, the first clamping cylinder, rotary cylinder and transverse shifting base; Described the first fixture block has left and right two, push rod with the first clamping cylinder is connected respectively, described the first clamping cylinder is rotatably connected with the transverse shifting base, is provided with base plate at the upside of described the first clamping cylinder, forms the first jaws between described base plate and left and right the first fixture block; Described horizontal promotion gas bar is installed on the transverse shifting base; Described rotary cylinder one end is rotatably connected with the transverse shifting base, and the other end is rotatably connected with the first clamping cylinder.
As further improvement of the utility model, described the first jaws is the jaws of conventional straight type product or angle flow-through product.
As further improvement of the utility model, the first jaws of the straight type product of described routine comprises horizontal jaws and vertical jaws.
As further improvement of the utility model, the product introduction end breach in described horizontal jaws shifts out the end breach greater than product.
As further improvement of the utility model, the anglec of rotation of described the first clamping cylinder and described transverse shifting base is 90 °.
As further improvement of the utility model, the first jaws of described angle flow-through is for laterally laterally putting into the jaws of the position of manipulator of next process.
(3) beneficial effect
The advantage of the robot device of transmission bend pipe of the present utility model:
1. can be with the position location status of the manipulator gripping product of last process by the first air-actuated jaw anglec of rotation, change the gripping state that its gripping state passes to adapt to the next procedure manipulator, make conventional straight type and the special-shaped product all can the gripping normal delivery, strengthened the functional of manipulator.
2. by the product introduction end breach in horizontal jaws is shifted out the structure of end breach greater than product, can make product put into jaws convenient, can correct again the gripping position of product; By the product that jaws longitudinally too namely can directly gripping lengthwise position is set, also can directly correct product.Above-mentioned rectification mode not only improves the accuracy of product position on manipulator fixture, reduces because the gripping Product Status does not transmit mistake to the product that causes, increases work efficiency, and meets the mechanical automation rule of development.
Description of drawings
Fig. 1 be of the present utility model between manipulator to the stereogram of the auxiliary manipulator of product transmission, aligning;
Fig. 2 is the stereogram of the first air-actuated jaw of the present utility model;
Fig. 3 be of the present utility model between manipulator to the auxiliary manipulator of product transmission, the aligning front view without picking manipulator;
Fig. 4 be of the present utility model between manipulator to the auxiliary manipulator of product transmission, the aligning top view without picking manipulator;
Fig. 5 be of the present utility model between manipulator to the use state diagram 1 of the auxiliary manipulator of product transmission, aligning;
Fig. 6 be of the present utility model between manipulator to the use state diagram 2 of the auxiliary manipulator of product transmission, aligning;
Fig. 7 be of the present utility model between manipulator to the use state diagram 3 of the auxiliary manipulator of product transmission, aligning;
Fig. 8 be of the present utility model between manipulator to the use state diagram 4 of the auxiliary manipulator of product transmission, aligning;
Fig. 9 be of the present utility model between manipulator to the use state diagram 5 of the auxiliary manipulator of product transmission, aligning;
In figure 2 for product deliver to the machine tool mechanical arm device, 3 for picking manipulator, 4 for joint, 101 be the first air-actuated jaw, 102 for laterally promote the gas bar, 111 for transverse shifting base, 112 be the first clamping cylinder, 113 be the first fixture block, 114 for base plate, 115 for rotary cylinder, 116 be that the first jaws, 117 is vertical jaws for horizontal jaws, 118.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present utility model is described in further detail.Following examples are used for explanation the utility model, but are not used for limiting scope of the present utility model.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a kind of between manipulator to the auxiliary manipulator of product transmission, aligning, comprise horizontal promotion gas bar 102 and the movably first air-actuated jaw 101, described the first air-actuated jaw 101 comprises the first fixture block 113, the first clamping cylinder 112, rotary cylinder 115 and transverse shifting base 111; Described the first fixture block 113 has left and right two, push rod with the first clamping cylinder 112 is connected respectively, described the first clamping cylinder 112 is rotatably connected with transverse shifting base 111, upside at described the first clamping cylinder 112 is provided with base plate 114, forms the first horizontal jaws 116 between described base plate 114 and left and right the first fixture block 113; Described horizontal promotion gas bar 102 is installed on transverse shifting base 111; Described rotary cylinder 115 1 ends are rotatably connected with transverse shifting base 111, the other end is rotatably connected with the first clamping cylinder 112, this purpose is to adjust to the gripping position corresponding with the manipulator of next process for the gripping state position that can change the logical special-shaped product in angle by rotation, can also adjust to the position of manipulator of a procedure, facilitate product to put in the first jaws 116 from the manipulator product of a upper procedure, thereby can transmit conventional straight type and special-shaped product.The anglec of rotation of described the first clamping cylinder 112 and described transverse shifting base 111 is 90 ° and product can be pushed to product by horizontal promotion gas bar 102 and delivers to machine tool mechanical arm device 2 and realize transmitting.Described the first jaws 116 is the jaws of conventional straight type or angle flow-through, and the first jaws 116 of described angle flow-through is horizontal bend pipe jaws.。The first jaws 116 of the straight type of described routine comprises horizontal jaws 117 and vertical jaws, not only can correct the product clip fetch bit of its longitudinal direction by vertical jaws and put, and also can make the first air-actuated jaw 101 anglecs of rotation, directly gripping product.Product introduction end breach in described horizontal jaws 117 shifts out the end breach greater than product, this purpose is to stop up when sending into the first jaws 116 for fear of product, block, and the gripping positional fault that can also correct its last process manipulator also makes a mistake the position that is delivered to the first jaws.
Embodiment one: when transmitting the joint 4 of the conventional straight type of processing, and, whole process equipment comprises that picking manipulator 3, auxiliary manipulator and product deliver to machine tool mechanical arm device 2 as Fig. 1 and shown in Figure 5.described the first clamping cylinder 112 promotes half-twist clockwise by rotary cylinder 115, described picking manipulator 3 unclamps with bend pipe 4 the product introduction end breach from the horizontal jaws 117 of horizontal jaws 117 and puts into, described rotary cylinder 115 promotes half-twist counterclockwise, move to by transverse shifting base 111 robot device 2 places that product is delivered to lathe, described horizontal promotion gas bar 102 is slowly pushed ahead joint 4 from the product introduction end breach of horizontal jaws 117, joint is slowly corrected its position because breach changes, being pushed at last product delivers in fixture in the robot device 2 of lathe, the robot device 2 of described lathe clamps 4, deliver to machine tooling place as Fig. 6.After processing, described the first clamping cylinder 112 promotes clockwise half-twist by rotary cylinder 115 and moves laterally to robot device 2 places that product is delivered to lathe, and described product is delivered to robot device 2 releasable joint 4 of lathe.Vertical jaws 118 on described left and right the first fixture block 113 is clamped bend pipe transverse shifting such as Fig. 7 backward.Then rotary cylinder 115 promotes half-twist counterclockwise, and described left and right the second fixture block 211 unclamps, and described picking manipulator 3 is clamped joint 4 downwards and taken out to complete to come and go and transmit operation as Fig. 8.
Embodiment two: when transmitting the joint 4 of processing angle flow-through, whole process equipment comprises that picking manipulator 3, auxiliary manipulator and product deliver to machine tool mechanical arm device 2.Described picking manipulator 3 moves down to be placed joint 4 in the first jaws 116 of angle flow-through, described left and right the first fixture block 113 slowly steps up, make joint 4 according to the first jaws 116 position automatic straightenings, clamp and 4 move forward to by transverse shifting base 111 robot device 2 places that product is delivered to lathe, described left and right the first fixture block 113 unclamps, described horizontal promotion gas bar 102 is pushed joint 4 to from the rear end of horizontal jaws 117 before, the described robot device 2 of delivering to lathe clamps 4, then delivers to machine tooling.After processing, described robot device 2 releasable joint 4 of delivering to lathe, meanwhile described left and right the first fixture block 113 is clamped joint 4, moves to the below of picking manipulator 3, and described picking manipulator 3 is clamped joint 4 downwards and is taken out and complete as Fig. 1 and Fig. 9.
The advantage of the robot device of transmission bend pipe of the present utility model:
1. can be with the position location status of the manipulator gripping product of last process by first air-actuated jaw 101 anglecs of rotation, change the gripping state that its gripping state passes to adapt to the next procedure manipulator, make conventional straight type and the special-shaped product all can the gripping normal delivery, strengthened the functional of manipulator.
2. by the product introduction end breach in horizontal jaws 116 is shifted out the structure of end breach greater than product, can make product put into jaws convenient, can correct again the gripping position of product; By the product that jaws longitudinally too namely can directly gripping lengthwise position is set, also can directly correct product.Above-mentioned rectification mode not only improves the accuracy of product position on manipulator fixture, reduces because the gripping Product Status does not transmit mistake to the product that causes, increases work efficiency, and meets the mechanical automation rule of development.
The above is only preferred embodiment of the present 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 improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.

Claims (6)

1. one kind is used between manipulator the auxiliary manipulator of product transmission, aligning be is characterized in that, comprises horizontal promotion gas bar (102) and the first air-actuated jaw (101) movably; Described the first air-actuated jaw (101) comprises the first fixture block (113), the first clamping cylinder (112), rotary cylinder (115) and transverse shifting base (111); Described the first fixture block (113) has left and right two, push rod with the first clamping cylinder (112) is connected respectively, described the first clamping cylinder (112) is rotatably connected with transverse shifting base (111), upside at described the first clamping cylinder (112) is provided with base plate (114), forms the first jaws (116) between described base plate (114) and left and right the first fixture block (113); Described horizontal promotion gas bar (102) is arranged on transverse shifting base (111); Described rotary cylinder (115) one ends are rotatably connected with transverse shifting base (111), and the other end is rotatably connected with the first clamping cylinder (112).
According to claim 1 between manipulator to the auxiliary manipulator of product transmission, aligning, it is characterized in that, described the first jaws (116) is the jaws of conventional straight type product or angle flow-through product.
According to claim 1 and 2 between manipulator to the auxiliary manipulator of product transmission, aligning, it is characterized in that, first jaws (116) of the straight type product of described routine comprises horizontal jaws (117) and vertical jaws (118).
4. according to claim 3 be used between manipulator is characterized in that the auxiliary manipulator of product transmission, aligning, and the product introduction end breach in described horizontal jaws (117) shifts out the end breach greater than product.
5. according to claim 1 be used between manipulator is characterized in that the auxiliary manipulator of product transmission, aligning, and described the first clamping cylinder (112) is 90 ° with the anglec of rotation of described transverse shifting base (111).
According to claim 2 between manipulator to the auxiliary manipulator of product transmission, aligning, it is characterized in that, first jaws (116) of described angle flow-through is for laterally putting into the jaws of the position of manipulator of next process.
CN 201220739358 2012-12-27 2012-12-27 Auxiliary manipulator used for product transfer and location correction between manipulators Withdrawn - After Issue CN202964663U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220739358 CN202964663U (en) 2012-12-27 2012-12-27 Auxiliary manipulator used for product transfer and location correction between manipulators

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220739358 CN202964663U (en) 2012-12-27 2012-12-27 Auxiliary manipulator used for product transfer and location correction between manipulators

Publications (1)

Publication Number Publication Date
CN202964663U true CN202964663U (en) 2013-06-05

Family

ID=48505789

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201220739358 Withdrawn - After Issue CN202964663U (en) 2012-12-27 2012-12-27 Auxiliary manipulator used for product transfer and location correction between manipulators

Country Status (1)

Country Link
CN (1) CN202964663U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103056885A (en) * 2012-12-27 2013-04-24 余姚市嘉力机械设备制造有限公司 Auxiliary manipulator used between manipulators to transmit products and correct positions
CN103817691A (en) * 2014-03-06 2014-05-28 深圳先进技术研究院 Orthodontic instrument preparing robot and manipulator thereof

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103056885A (en) * 2012-12-27 2013-04-24 余姚市嘉力机械设备制造有限公司 Auxiliary manipulator used between manipulators to transmit products and correct positions
CN103817691A (en) * 2014-03-06 2014-05-28 深圳先进技术研究院 Orthodontic instrument preparing robot and manipulator thereof
CN103817691B (en) * 2014-03-06 2015-06-03 深圳先进技术研究院 Orthodontic instrument preparing robot and manipulator thereof

Similar Documents

Publication Publication Date Title
CN204262225U (en) Pipe fitting loading and unloading robot device
CN204263163U (en) Intelligent machine mechanical arm
CN205166954U (en) Device is got to material clamp
CN208880048U (en) Applied to the multi-functional clamp on Feeder Manipulator
CN110000530A (en) A kind of automatic assembling device and automatic assemble method of railway bracket component
CN202964663U (en) Auxiliary manipulator used for product transfer and location correction between manipulators
CN104226724A (en) Full-automatic pipe fitting production and machining method and system
CN201684858U (en) Auxiliary feeding device used in automatic processing of pipe parts
CN103056885B (en) Auxiliary manipulator used between manipulators to transmit products and correct positions
CN205166549U (en) Automobile wheel hub bearing automatic processing production line
CN103394937A (en) Elbow pipe fixture used for chamfering
CN207873318U (en) A kind of threeway tapping machine
CN205221233U (en) Slash pocket machine presss from both sides bag mechanism
CN205907016U (en) Filling mechanism of aerosol liquid filling machine
CN207985312U (en) Tinned food boxing clamp
CN204182714U (en) Tubing mechanized production system
CN203843712U (en) Clamping tool used for clamping batched parts
CN209052078U (en) A kind of four side positioning fixtures
CN202963664U (en) Single station 90-degree backswing mechanical arm
CN202804573U (en) Automatic forming unit for optical disk drivers
CN206435961U (en) A kind of laterally parallel feeding device for nail for communication products connector
CN203357067U (en) Elbow clamp for chamfering
CN205201509U (en) Automatic manipulator structure for packagine machine
CN108214005A (en) The automatic aligning device of storage rack production
CN205219471U (en) A manipulator device for centre gripping ceramic tile

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
AV01 Patent right actively abandoned

Granted publication date: 20130605

Effective date of abandoning: 20150603

RGAV Abandon patent right to avoid regrant