CN102689299A - Material-charging material-taking servo simulated manipulator - Google Patents
Material-charging material-taking servo simulated manipulator Download PDFInfo
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- CN102689299A CN102689299A CN201210163874XA CN201210163874A CN102689299A CN 102689299 A CN102689299 A CN 102689299A CN 201210163874X A CN201210163874X A CN 201210163874XA CN 201210163874 A CN201210163874 A CN 201210163874A CN 102689299 A CN102689299 A CN 102689299A
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Abstract
The invention provides a material-charging material-taking servo simulated manipulator, belonging to manipulators, and is used for charging and taking materials of large-scale workpieces. According to the invention, a vehicle body moves and a rotary workbench rotates under full-hydraulic power; a front large arm, a middle large arm, a back large arm, an upper small arm, a lower small arm, a link board, an upper toggle rod, a lower toggle rod and the rotary workbench form three parallelograms; the cylinder rod of a lifting oil cylinder is articulated with the lower toggle rod; the cylinder rod of a link rod telescopic oil cylinder is articulated with the middle large arm; a rotary support hydraulic motor drives a tongs head portion to swing; a tongs head telescopic oil cylinder drives the telescopic oil cylinder to extend and retract; a tongs head rotary hydraulic motor is connected with a worm and worm wheel mechanism; a hollow worm wheel shaft is connected with a hollow shaft; a pull rod is connected with the tongs head; the tongs head rotary hydraulic motor drives the tongs head to rotate; the cylinder rod of the clamp cylinder with the cylinder rod located on the axis of the worm wheel shaft is connected with the pull rod to drive the tongs head to clamp or release. The manipulator provided by the invention solves the technical problems of constant angle changes of the mechanical arms and the rotary workbench driven by the pitching oil cylinder of the existing material-charging material-taking manipulator and defects of the clamp rotation mechanism.
Description
Technical field
The invention belongs to manipulator, is that material servosimulator tool hand is got in a kind of charging that is used for large-scale workpiece specifically.
Background technology
Along with industrial development, for operating efficiency, the higher requirement of precision proposition of dress, reclaimer robot.China utility model patent Granted publication CN 2657879Y " eight degrees of freedom charging and discharging manipulator " discloses a kind of rotary table upper lateral at last hull and has been provided with sleeve, sleeve internal support mechanical arm; The following angled end and the sleeve of the lower fulcrum bar of parallel four-bar linkage are hinged, and the oblique upper end of the bottom of back stay and lower fulcrum bar is hinged; The rear end and the rotary table of horizontal flat oil-lifting jar are hinged, and the tailpiece of the piston rod and the lower fulcrum bar of flat oil-lifting jar are hinged, and rear portion and the rotary table of facing upward the oil cylinder of bowing are hinged, face upward the piston rod and the hinged technology of back stay of the oil cylinder of bowing.The hydraulic oil cylinder driving mechanical arm of bowing of facing upward in the patent is realized facing upward and is bowed flat oil-lifting jar driving device arm oscilaltion.The mechanical arm of facing upward the hydraulic oil cylinder driving of bowing of this patent and the angle between the rotary table constantly change, and the operation of manipulator and use are very inconvenient.Chuck rotating mechanism in this patent adopts oscillating oil cylinder, and gear rack type swing oil cylinder appearance and size is big, and it is more to take up room; The vane type oscillating oil cylinder leaks bigger, is inappropriate for tick-over, and rotating speed increases rapidly with load and reduces; Spiral oscillating oil cylinder difficulty of processing is big, and cost is higher.Jaw clamping, the release function that can control for charging and discharging machine tool hand is had need install the jaw clamp mechanism additional.Chuck rotating mechanism and the rational layout of jaw clamp mechanism be before and after series arrangement, and the oscillating oil cylinder of chuck rotating mechanism has stopped being connected of jaw clamp mechanism and jaw.In addition, the chuck rotating mechanism of existing dress, reclaimer robot adopts the pivoting support structure in addition, and its shortcoming is not have auto-lock function, and precision is lower, and profile is big, and cost of manufacture is high, installation, maintenance and control difficulty.
Summary of the invention
The present invention will solve the mechanical arm of facing upward the hydraulic oil cylinder driving of bowing of existing charging and discharging manipulator and the angle of rotary table constantly changes, and there is the technical problem of above-mentioned defective in the chuck rotating mechanism, provides the angle between a kind of mechanical arm and the rotary table constant; The chuck rotating mechanism has auto-lock function; Precision is high, and profile is little, and cost of manufacture is low; Installation, maintenance is convenient with control, and has and can control that jaw clamps, material servosimulator tool hand is got in the charging of release function.
In order to solve the problems of the technologies described above, the technical scheme that the present invention takes is: material servosimulator tool hand is got in a kind of charging, comprises the rotary table on the car body, and Hydraulic Station is installed on the rotary table, is connected with the switch board power supply; The car body hydraulic power drives the car body walking, the rotation of rotary table fluid motor-driven rotary table; One end of preceding big arm and an end of lower elbow lever are hinged; One end of the other end of lower elbow lever and arm broad in the middle is common and rotary table is hinged; One end of the other end of arm broad in the middle and following forearm and an end of upper elbow lever are hinged jointly; The middle part of following forearm and the other end of preceding big arm are hinged, and preceding big arm, lower elbow lever, arm broad in the middle and following forearm constitute parallelogram; One end of the other end of following forearm and yoke plate is hinged, and an end of the other end of yoke plate and last forearm is hinged, and the other end of last forearm and the other end of upper elbow lever are hinged, and following forearm, upper elbow lever, last forearm and yoke plate constitute parallelogram; One end and the rotary table of the big arm in back are hinged, and the other end of the big arm in back and the outside of upper elbow lever are hinged, and rotary table, the big arm in back, upper elbow lever and arm broad in the middle constitute parallelogram; The cylinder body of hoist cylinder is hinged on the rotary table, the bottom-hinged of cylinder bar and lower elbow lever; The cylinder body of connecting rod telescopic oil cylinder is hinged on the rotary table, and the middle part of cylinder bar and arm broad in the middle is hinged; The sleeve of binding clip part connects yoke plate through the manipulator pivoting support of pivoting support fluid motor-driven, and pivoting support fluid motor-driven binding clip is partly swung; The mechanical arm and the sleeve endoporus of binding clip part are slidingly matched, and binding clip is in the front of mechanical arm; The binding clip telescopic oil cylinder drives the axis direction stretching motion of binding clip along mechanical arm; The binding clip rotary fluid motor connects worm-and-wheel gear, and hollow worm-wheel shaft is connected with hollow shaft; Hollow shaft is fixedly connected the pincers yoke, is slidingly matched with pull bar, and pull bar connects binding clip through connecting rod, and the binding clip rotary fluid motor drives the axis rotation of binding clip around mechanical arm; The cylinder bar of clamping cylinder is positioned on worm-wheel shaft and the hollow shaft axis, and cylinder lever connecting rod, clamping cylinder drive the jaw clamping of binding clip or unclamp.
During hoist cylinder work; Its cylinder bar drives the jointed shaft rotation of lower elbow lever around lower elbow lever and rotary table; And then big arm before driving, down forearm, go up forearm and yoke plate motion, preceding big arm, lower elbow lever, arm broad in the middle and following forearm and down forearm, upper elbow lever, upward forearm and yoke plate respectively constitute parallel-crank mechanism, arm broad in the middle and upper elbow lever are motionless; Yoke plate is partly done elevating movement together with binding clip, and the angle between the mechanical arm of binding clip part and the rotary table is constant.During the work of connecting rod telescopic oil cylinder; Its cylinder bar drives the jointed shaft rotation of arm broad in the middle around arm broad in the middle and rotary table; And then big arm, upper elbow lever, upward forearm, yoke plate and the motion of following forearm after driving; Preceding big arm, lower elbow lever, arm broad in the middle and following forearm and arm broad in the middle, rotary table, the big arm in back and upper elbow lever respectively constitute parallel-crank mechanism; Upper elbow lever, the parallelogram translation of going up forearm, yoke plate and following forearm formation, the angle between mechanical arm and the rotary table is constant.Angle between mechanical arm of the present invention and the rotary table is constant, operation and easy to use; Hydraulic Station provides hydraulic power, all uses hydraulic power, has eliminated accident potential, is suitable for forging, the charging of hot environment such as heat treatment gets material.Adopt the worm-and-wheel gear of hollow worm-wheel shaft to solve the clamping cylinder cylinder bar of jaw clamp mechanism and the technical barrier that is connected of jaw, overcome the shortcoming that existing chuck rotating mechanism adopts oscillating oil cylinder or pivoting support to exist.Worm-and-wheel gear has auto-lock function, and monnolithic case is smaller, is convenient to installation, maintenance and control, can guarantee higher precision, and cost is lower, and rotating speed receives the influence of load little.Manipulator of the present invention has that walking before and after the car body, car body revolution, jaw clamp/unclamp, binding clip is flexible, binding clip revolution, binding clip rotation, hoist cylinder drive that binding clip goes up and down and the connecting rod telescopic oil cylinder drives eight frees degree such as binding clip translation.
The two-way 180 degree angles of stirring of pivoting support fluid motor-driven binding clip.
The manipulator pivoting support adopts single gear mechanism.Single gear mechanism has stable drive, efficient is high, precision is high and advantage of simple structure.The single gear mechanism of manipulator pivoting support has many prior aries to adopt; For example; The pivoting support hydraulic motor of manipulator pivoting support is fixedly connected on the yoke plate; Power output gear that its output shaft connects and the external toothing engagement that is connected the binding clip part, or the worm screw that connects of pivoting support hydraulic motor output shaft be connected binding clip worm gear partly and mesh or the like.
The axis of mechanical arm is parallel with horizontal plane.
The axis of manipulator pivoting support respectively with the axis of yoke plate two ends hinge axis and the axis normal of sleeve.Be convenient to produce, install and debugging.
The dismountable installation two-wheel of underneath its body edge is put down the tread wheel, and wheel is a driven wheel, cooperates with guide rail on the basis; The car body hydraulic motor of car body hydraulic power is installed on the car body; The car body hydraulic motor drives the sprocket wheel rotation, and the two ends of chain are separately fixed on car body and the basis, and sprocket wheel cooperates with chain; Walking before and after the car body fluid motor-driven car body; Or the car body hydraulic motor output shaft connecting pin gear of car body hydraulic power, this pin gear and the pin rack engagement that is fixed on the basis, or the cylinder body of the car body hydraulic jack of car body hydraulic power and cylinder bar are hinged on respectively on car body and the basis.Wheel is a consumable accessory, and driven wheel is detachable, is convenient to safeguard, change.
Hollow shaft is fixedly connected the pincers yoke through voussoir, and voussoir passes the axial long hole on the pull bar.The axially movable scope of voussoir control pull bar.
The binding clip rotary fluid motor is fixedly connected mechanical arm, and output shaft connects the worm screw of worm-and-wheel gear, and the front end of hollow worm-wheel shaft is connected with the rear end of hollow shaft.The binding clip rotary fluid motor drives the axis rotation of binding clip around mechanical arm
The cylinder body of clamping cylinder is fixedly connected on the rear end cap of worm-and-wheel gear.Clamping cylinder drives the jaw clamping or unclamps.
The cylinder body of binding clip telescopic oil cylinder and cylinder bar be hinged sleeve and mechanical arm respectively.The binding clip telescopic oil cylinder drives the axis direction stretching motion of binding clip along mechanical arm
Advantage of the present invention is three parallelogram sturcutres, hoist cylinder and the work of connecting rod telescopic oil cylinder matching coordinative, and the angle between mechanical arm and the rotary table is constant, operation and easy to use.All use hydraulic power, eliminated accident potential.The chuck rotating mechanism adopts the worm-and-wheel gear of hollow worm-wheel shaft, has solved the technical barrier that clamping cylinder cylinder bar is connected with jaw, has overcome the shortcoming that existing chuck rotating mechanism adopts oscillating oil cylinder or pivoting support to exist.Worm-and-wheel gear cost with auto-lock function is low, and volume is little, installation, control and easy to maintenance, and operating accuracy is high, and rotating speed receives the influence of load little.Manipulator of the present invention has eight frees degree, and work is light and handy flexibly, and function is many.
Description of drawings
Fig. 1 is the structural representation of one embodiment of the invention;
Fig. 2 is the enlarged diagram of binding clip part among Fig. 1;
Fig. 3 is the vertical view of Fig. 2.
The specific embodiment
Illustrated is the embodiment that material servosimulator tool hand is got in a kind of charging that is used for the large-scale workpiece of metal heat treatmet.The flat tread wheel 1 of two-wheel edge is installed in the bottom surface of car body 2 among the figure, and there is flange wheel 1 both sides, and the periphery of wheel 1 cooperates with guide rail on being fixed on the basis.The car body hydraulic power of present embodiment is the car body hydraulic motor, and the car body hydraulic motor is installed on the car body 2, car body hydraulic motor output shaft connecting pin gear, and this pin gear and the pin rack engagement that is fixed on the basis, pin rack does not draw among the figure.The set of wheels that comprises wheel 1, axletree and vehicle wheel frame is through on the dismountable bottom frame that is fixed on car body 2 of bolt, and wheel 1 is a driven wheel.About 2 walkings of car body fluid motor-driven car body.Rotary table 3 be installed in car body 2 above, adopt the external tooth type pivoting support.The rotary table hydraulic motor is four connecting rod rotary fluid motors 29 among the figure.Four connecting rod rotary fluid motors 29 are fixed on the revolution panel 25 of rotary table 3; Power output gear on its output shaft and the external toothing engagement that is fixed on above the car body 2; The axle of external tooth type pivoting support is fixed on the bottom surface of revolution panel 25, connects the inner ring of external toothing through bearing.Four connecting rod rotary fluid motors, 29 driving rotational workbench 3 rotate on horizontal plane.The Hydraulic Station 5 that comprises fuel tank, oil feed pump etc. is installed on the revolution panel 25, and Hydraulic Station 5 provides hydraulic power, and the present invention all uses hydraulic power.Hydraulic Station is connected with the switch board power supply.Be fixed with vertical support frame above the revolution panel 25.The left end of the lower end of big arm 8 and lower elbow lever 7 is hinged through hinge axis before among the figure; The lower end of the right-hand member of lower elbow lever 7 and arm broad in the middle 10 is common and vertical support frame is hinged through the fixed hinge axle; The right-hand member of the upper end of arm 10 broad in the middle and following forearm 13 and the lower end of upper elbow lever 11 are hinged through hinge axis jointly; The center-right position of following forearm 13 and the upper end of preceding big arm 8 are hinged through hinge axis, and the hinge axis between preceding big arm 8, lower elbow lever 7, arm broad in the middle 10 and the following forearm 13 connects and composes parallelogram successively; The lower end of the left end of following forearm 13 and yoke plate 14 is hinged through hinge axis; The left end of the upper end of yoke plate 14 and last forearm 12 is hinged through hinge axis; The upper end of the right-hand member of last forearm 12 and upper elbow lever 11 is hinged through hinge axis, and following forearm 13, upper elbow lever 11, the hinge axis of going up between forearm 12 and the yoke plate 14 connect and compose parallelogram successively; The lower end and the vertical support frame of the big arm 9 in back are hinged through the fixed hinge axle; The upper end of the big arm 9 in back and the outside of upper elbow lever 11 are hinged through hinge axis, and the hinge axis between vertical support frame, the big arm 9 in back, upper elbow lever 11 and the arm broad in the middle 10 connects and composes parallelogram successively.The cylinder body of hoist cylinder 4 is hinged on the vertical support frame through the fixed hinge axle, the bottom-hinged of cylinder bar and lower elbow lever 7; The cylinder body of connecting rod telescopic oil cylinder 6 is hinged on the vertical support frame through the fixed hinge axle, and the position, lower middle of cylinder bar and arm broad in the middle 10 is hinged through hinge axis.Three parallelogram, hoist cylinder 4 and connecting rod telescopic oil cylinders 6 are on same vertical plane.
The left side of yoke plate 14 is fixedly connected binding clip part installing plate among the figure, and the bottom of binding clip part installing plate connects manipulator pivoting support 16, and manipulator pivoting support 16 adopts the external tooth type pivoting support of single gear mechanism.The pivoting support hydraulic motor 15 of manipulator pivoting support 16 is rotary actuators; Rotary actuator is fixed on the binding clip part installing plate; Gear on the motor output shaft and the external toothing engagement that is fixed on sleeve installing plate top; The axle of manipulator pivoting support 16 is fixed on the bottom of binding clip part installing plate, connects the endoporus of external toothing through bearing.Rotary actuator drives binding clip and partly swings each 90 °, the comprehensive covering of working face.Sleeve 20 is fixedly connected on the bottom of sleeve connecting plate.Manipulator pivoting support 16 on horizontal plane, its axis respectively with the axis normal of the axis and the sleeve 20 of yoke plate 14 two ends hinge axis.The axis of mechanical arm 22 is parallel with the revolution panel 25 of rotary table 3.Mechanical arm 22 is slidingly matched with sleeve 20 endoporus, and the outer diametric plane of mechanical arm 22 can horizontally slip along sleeve 20 endoporus.Binding clip 24 is positioned at the front of mechanical arm 22 left end heads.The endoporus of hollow shaft 26 has pull bar 21, and both deads in line are slidingly matched.Left side, voussoir 27 will clamp yoke and hollow shaft 26 is fixed together, and passes the axial long hole on the pull bar 21.The axial long hole that pull bar 21 leans on it, realization moves axially with respect to hollow shaft 26, and clamping cylinder 17 is accomplished the function that clamps or unclamp jaw.The left end of pull bar 21 connects binding clip 24 through connecting rod 23.Worm-and-wheel gear 18 is fixedly mounted on the mount pad of mechanical arm 22 right-hand members; Binding clip rotary fluid motor 28 is fixedly mounted on the housing of worm-and-wheel gear 18; Its output shaft connects the worm screw of worm-and-wheel gear 18; The square hole interference fit of the square toes of hollow worm-wheel shaft left end and hollow shaft 26 right-hand members does not demonstrate being connected of worm-wheel shaft and hollow shaft 26 among the figure.The cylinder body of clamping cylinder 17 is fixed on worm-and-wheel gear 18 rear end caps, and the cylinder bar is arranged in the worm-wheel shaft endoporus, and the cylinder bar is fixedly connected the right-hand member of pull bar 21 through screw thread.The cylinder body of binding clip telescopic oil cylinder 19 and cylinder bar be the cylinder body and the sleeve 20 of toggle clamp locking oil cylinder 17 respectively.
Claims (10)
1. material servosimulator tool hand is got in a charging, comprises the rotary table (3) on the car body (2), it is characterized in that Hydraulic Station (5) is installed on the rotary table (3), is connected with the switch board power supply; The car body hydraulic power drives car body (2) walking, rotary table fluid motor-driven rotary table (3) rotation; One end of preceding big arm (8) and an end of lower elbow lever (7) are hinged; One end of the other end of lower elbow lever (7) and arm broad in the middle (10) is common and rotary table (3) is hinged; One end of the other end of arm broad in the middle (10) and following forearm (13) and an end of upper elbow lever (11) are hinged jointly; The other end of the middle part of following forearm (13) and preceding big arm (8) is hinged, and preceding big arm (8), lower elbow lever (7), arm broad in the middle (10) and following forearm (13) constitute parallelogram; One end of the other end of following forearm (13) and yoke plate (14) is hinged; One end of the other end of yoke plate (14) and last forearm (12) is hinged; The other end of the other end of last forearm (12) and upper elbow lever (11) is hinged, and following forearm (13), upper elbow lever (11), last forearm (12) and yoke plate (14) constitute parallelogram; One end and the rotary table (3) of the big arm (9) in back are hinged, and the other end of the big arm (9) in back and the outside of upper elbow lever (11) are hinged, and rotary table (3), the big arm (9) in back, upper elbow lever (11) and arm broad in the middle (10) constitute parallelogram; The cylinder body of hoist cylinder (4) is hinged on the rotary table (3), the bottom-hinged of cylinder bar and lower elbow lever (7); The cylinder body of connecting rod telescopic oil cylinder (6) is hinged on the rotary table (3), and the middle part of cylinder bar and arm broad in the middle (10) is hinged; The sleeve (20) of binding clip part connects yoke plate (14) through pivoting support hydraulic motor (15) driven mechanical hand pivoting support (16), and pivoting support hydraulic motor (15) drives binding clip and partly swings; The mechanical arm (22) of binding clip part is slidingly matched with sleeve (20) endoporus, and binding clip (24) is in the front of mechanical arm (22); Binding clip telescopic oil cylinder (19) drives the axis direction stretching motion of binding clip (24) along mechanical arm (22); Binding clip rotary fluid motor (28) connects worm-and-wheel gear (18), and hollow worm-wheel shaft is connected with hollow shaft (26); Hollow shaft (26) is fixedly connected the pincers yoke, is slidingly matched with pull bar (21), and pull bar (21) connects binding clip (24) through connecting rod (23), and binding clip rotary fluid motor (28) drives the axis rotation of binding clip (24) around mechanical arm (22); The cylinder bar of clamping cylinder (17) is positioned on worm-wheel shaft and hollow shaft (26) axis, and cylinder lever connecting rod (21), clamping cylinder (17) drive the jaw clamping of binding clip (24) or unclamp.
2. material servosimulator tool hand is got in charging according to claim 1, it is characterized in that pivoting support hydraulic motor (15) drives the two-way 180 degree angles of stirring of binding clip (24).
3. material servosimulator tool hand is got in charging according to claim 1, it is characterized in that manipulator pivoting support (16) adopts single gear mechanism.
4. material servosimulator tool hand is got in charging according to claim 1, it is characterized in that the axis of mechanical arm (22) is parallel with horizontal plane.
5. material servosimulator tool hand is got in charging according to claim 1, the axis that it is characterized in that manipulator pivoting support (16) respectively with the axis of yoke plate (14) two ends hinge axis and the axis normal of sleeve (20).
6. material servosimulator tool hand is got in charging according to claim 1, it is characterized in that the flat tread wheel (1) of dismountable installation two-wheel edge below the car body (2), and wheel (1) is a driven wheel, cooperates with guide rail on the basis; The car body hydraulic motor of car body hydraulic power is installed on the car body (2); The car body hydraulic motor drives the sprocket wheel rotation; The two ends of chain are separately fixed on car body (2) and the basis; Sprocket wheel cooperates with chain, walking before and after the car body fluid motor-driven car body (2), or the car body hydraulic motor output shaft connecting pin gear of car body hydraulic power; This pin gear and the pin rack engagement that is fixed on the basis, or the cylinder body of the car body hydraulic jack of car body hydraulic power and cylinder bar are hinged on respectively on car body (2) and the basis.
7. material servosimulator tool hand is got in charging according to claim 1, it is characterized in that hollow shaft (26) is fixedly connected the pincers yoke through voussoir (27), and voussoir (27) passes the axial long hole on the pull bar (21).
8. material servosimulator tool hand is got in charging according to claim 1; It is characterized in that binding clip rotary fluid motor (28) is fixedly connected mechanical arm (22); Output shaft connects the worm screw of worm-and-wheel gear (18), and the front end of hollow worm-wheel shaft is connected with the rear end of hollow shaft (26).
9. material servosimulator tool hand is got in charging according to claim 1, it is characterized in that the cylinder body of clamping cylinder (17) is fixedly connected on the rear end cap of worm-and-wheel gear (18).
10. material servosimulator tool hand is got in charging according to claim 1, it is characterized in that cylinder body and the cylinder bar difference hinged sleeve (20) and the mechanical arm (22) of binding clip telescopic oil cylinder (19).
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| CN201210163874XA CN102689299A (en) | 2012-05-24 | 2012-05-24 | Material-charging material-taking servo simulated manipulator |
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| CN201210163874XA CN102689299A (en) | 2012-05-24 | 2012-05-24 | Material-charging material-taking servo simulated manipulator |
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Application publication date: 20120926 |