CN102848152A - Processing method of manipulators - Google Patents

Processing method of manipulators Download PDF

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Publication number
CN102848152A
CN102848152A CN2012103387604A CN201210338760A CN102848152A CN 102848152 A CN102848152 A CN 102848152A CN 2012103387604 A CN2012103387604 A CN 2012103387604A CN 201210338760 A CN201210338760 A CN 201210338760A CN 102848152 A CN102848152 A CN 102848152A
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CN
China
Prior art keywords
processing
rectangular billet
installing hole
manipulator
macropore
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.)
Granted
Application number
CN2012103387604A
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Chinese (zh)
Other versions
CN102848152B (en
Inventor
许波
周华龙
万双喜
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.)
HUBEI SPACE DOUBLE RHOMBUS LOGISTICS TECHNOLOGY CO., LTD.
Original Assignee
HUBEI SPACE SANJIANG HONGLIN ELECTRICAL AND MECHANICAL TECHNOLOGY CO LTD
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Application filed by HUBEI SPACE SANJIANG HONGLIN ELECTRICAL AND MECHANICAL TECHNOLOGY CO LTD filed Critical HUBEI SPACE SANJIANG HONGLIN ELECTRICAL AND MECHANICAL TECHNOLOGY CO LTD
Priority to CN201210338760.4A priority Critical patent/CN102848152B/en
Publication of CN102848152A publication Critical patent/CN102848152A/en
Application granted granted Critical
Publication of CN102848152B publication Critical patent/CN102848152B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The invention discloses a processing method of manipulators, which comprises the steps of plain milling machine processing of a blank, large hole locating, large hole lathing, a wire cutting procedure, demagnetization, milling and benching. Finally, a pair of mutually matched left and right manipulators is obtained. A left piece and a right piece of the pair of manipulators are processed at the same time, so that arcs of grasping parts of the pair of manipulators are better matched with each other, the structural requirements of the pair of manipulators in the use process are met, the technical requirements of the pair of manipulators are met as well, and the occurrence of the problem of short service life caused by errors of the part size and the accuracy of form and position is reduced greatly.

Description

The processing method of manipulator
Technical field
The present invention relates to the manipulator processing technique field, particularly a kind of processing method of manipulator.
Background technology
Along with national economy and industrialized development, the producer of hot forged mould processing propeller boss product is more and more.In recent years, the new product producer that produces all size constantly emerged, so that the market supply demand of hot forged mould constantly strengthen.
At present, what the production and processing of manipulator was adopted is that left and right sides manipulator is processed respectively, and then support the use, but because after processing respectively, the circular arc of the grip zones of left and right sides manipulator can better not match each other, thereby when causing using, to the wearing and tearing increasing of manipulator, affected the service life of manipulator.
Summary of the invention
The object of the invention is to overcome the not high defective of manipulator right-hand man matching degree that existing processing method processes, a kind of processing method that can produce the higher manipulator of service life and precision is provided.
For achieving the above object, the processing method of the manipulator that the present invention is designed, the method may further comprise the steps:
1) first rectangular billet is carried out the preliminary general processing of milling, determine height according to its final products appearance and size processing, stay allowance when width and thickness are determined in processing, and mill out each chamfering on the profile;
2) mill processing to the front and back of rectangular billet is further general again, the general step that processes the rectangular billet back side that mills, carry out in the rectangular billet front general mill to add stay allowance man-hour, and the position of definite macropore;
3) rectangular billet of having determined large hole site is carried out pincers worker processing and remove burr everywhere, then process installing hole, middle installing hole and lower installing hole in the first half of rectangular billet two sides, and tapping processes the screw thread in installing hole, middle installing hole and the lower installing hole;
4) macropore is processed, diameter stays allowance;
5) rectangular billet that processes macropore is carried out vacuum hardening;
6) front and back of the rectangular billet after the vacuum hardening carried out the plain grinding processing, the center of definite upper installing hole, middle installing hole and lower installing hole and the vertical range in rectangular billet front are also stayed allowance, simultaneously the two sides of rectangular billet are polished and see light, to remove rectangular billet surface casting skin;
7) macropore on the rectangular billet of removing casting skin is machined, the circular arc of car macropore is to finished size;
The rectangular billet that 8) will process macropore is labeled as left and right sides two parts, corresponds respectively to left manipulator and the right manipulator of finished product;
9) rectangular billet of mark is carried out line and cut operation, two sides with minute kilsyth basalt centering manipulator, cut the position take macropore as the benchmark centering with definite line again, rectangular billet cut open be divided into left and right, then process left the width of left mechanical arm and right right mechanical arm width and stay allowance;
10) polish respectively left and right 's outer surface to remove allowance, then demagnetization;
11) left and right to demagnetization mills processing, mills out respectively first groove in the left mechanical arm upper right corner and second groove in the right mechanical arm upper left corner;
12) left and right of milling after the processing clamped processing, remove the burr casting skin and carry out the clear hole in each hole, a pair of manipulator that matches about obtaining.
Wherein, in the described step 1), stay allowance to be preferably 0.6mm when working width and thickness.
Described step 2) in, carries out in the rectangular billet front generally milling processing and staying allowance to be preferably 0.3mm.
In the described step 4), the macropore of locating is carried out centering and adds man-hour, stay allowance to be preferably 2mm.
In the described step 6), the center of installing hole, middle installing hole and lower installing hole is with positive vertical range and stay allowance to be preferably 0.2mm in the processing.
In the described step 9), when processing left the width of left mechanical arm and right 's the width of right mechanical arm, stay allowance to be preferably 0.3mm.
Beneficial effect of the present invention: the processing method of the manipulator that provides is by processing simultaneously together left and right, the circular arc of the grip zones of a pair of manipulator can better be matched each other, guaranteed its structural requirement in using engineering, satisfied its specification requirement, greatly reduce because accessory size and accuracy of form and position error so that service life low problem.
Description of drawings
Fig. 1 is the structural representation that is used for the rectangular billet of manipulator processing.
Fig. 2 is E among Fig. 1-E cross-sectional view.
Fig. 3 is the left TV structure schematic diagram of Fig. 1.
Fig. 4 is left and right structural representation of manipulator.
Fig. 5 is the left TV structure schematic diagram of left of Fig. 4.
The specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Shown in Fig. 1 ~ 5, the processing method of manipulator of the present invention may further comprise the steps:
1) first rectangular billet 1 is carried out the preliminary general processing of milling, determine height L according to its final products appearance and size processing, stay allowance 0.6mm when width W and thickness A are determined in processing, and mill out each chamfering on the profile;
2) mill processing to the front and back of rectangular billet 1 is further general again, the general step 3 that processes rectangular billet 1 back side that mills, carry out in rectangular billet 1 front general mill to add stay allowance 0.3mm man-hour, and the position of definite macropore 2;
3) rectangular billet 1 of having determined macropore 2 positions is clamped processing and remove burr everywhere, then the first half in rectangular billet 1 two sides processes installing hole 4, middle installing hole 5 and lower installing hole 6 with drill jig, and tapping processes the screw thread in installing hole 4, middle installing hole 5 and the lower installing hole 6;
4) with lathe macropore 2 is processed, the diameter D of macropore 2 stays allowance 2mm;
5) rectangular billet 1 that processes macropore 2 is carried out vacuum hardening;
6) front and back of the rectangular billet after the vacuum hardening 1 is processed, the center of definite upper installing hole 4, middle installing hole 5 and lower installing hole 6 and the vertical range B in rectangular billet 1 front also stay allowance 0.2mm, simultaneously the two sides of rectangular billet 1 are polished and see light, to remove rectangular billet 1 surperficial casting skin;
7) macropore 2 on the rectangular billet 1 of removing casting skin is machined, the circular arc of car macropore 2 is to finished size;
The rectangular billet 1 that 8) will process macropore 2 is labeled as left and right sides two parts, corresponds respectively to left manipulator and the right manipulator of finished product;
9) rectangular billet 1 of mark is carried out line and cut operation, two sides with minute kilsyth basalt centering manipulator, cut the position take macropore 2 as the benchmark centering with definite line again, rectangular billet 1 cut open be divided into left 10 and right 11, then process left 10 the width W 10 of left mechanical arm 101 and right right mechanical arm 111 width W 11 and stay allowance 0.3mm;
10) the inside and outside surface that polishes respectively left 10 and right 11 guarantees that simultaneously size B becomes, then demagnetization to remove allowance;
11) left 10 and right 11 to demagnetization mills processing, mills out respectively first groove 102 in left mechanical arm 101 upper right corner and second groove 112 in right mechanical arm 111 upper left corners;
12) left 10 and right 11 of milling after the processing clamped processing, remove the burr casting skin and carry out the clear hole in each hole, a pair of manipulator that matches about obtaining.

Claims (6)

1. the processing method of a manipulator, it is characterized in that: the method may further comprise the steps:
1) first rectangular billet is carried out the preliminary general processing of milling, determine height according to its final products appearance and size processing, stay allowance when width and thickness are determined in processing, and mill out each chamfering on the profile;
2) mill processing to the front and back of rectangular billet is further general again, the general step that processes the rectangular billet back side that mills, carry out in the rectangular billet front general mill to add stay allowance man-hour, and the position of definite macropore;
3) rectangular billet of having determined large hole site is carried out pincers worker processing and remove burr everywhere, then process installing hole, middle installing hole and lower installing hole in the first half of rectangular billet two sides, and tapping processes the screw thread in installing hole, middle installing hole and the lower installing hole;
4) macropore is processed, diameter stays allowance;
5) rectangular billet that processes macropore is carried out vacuum hardening;
6) front and back of the rectangular billet after the vacuum hardening carried out the plain grinding processing, the center of definite upper installing hole, middle installing hole and lower installing hole and the vertical range in rectangular billet front are also stayed allowance, simultaneously the two sides of rectangular billet are polished and see light, to remove rectangular billet surface casting skin;
7) macropore on the rectangular billet of removing casting skin is machined, the circular arc of car macropore is to finished size;
The rectangular billet that 8) will process macropore is labeled as left and right sides two parts, corresponds respectively to left manipulator and the right manipulator of finished product;
9) rectangular billet of mark is carried out line and cut operation, two sides with minute kilsyth basalt centering manipulator, cut the position take macropore as the benchmark centering with definite line again, rectangular billet cut open be divided into left and right, then process left the width of left mechanical arm and right right mechanical arm width and stay allowance;
10) polish respectively left and right 's outer surface to remove allowance, then demagnetization;
11) left and right to demagnetization mills processing, mills out respectively first groove in the left mechanical arm upper right corner and second groove in the right mechanical arm upper left corner;
12) left and right of milling after the processing clamped processing, remove the burr casting skin and carry out the clear hole in each hole, a pair of manipulator that matches about obtaining.
2. the processing method of manipulator according to claim 1 is characterized in that: in the described step 1), stay allowance 0.6mm when working width and thickness.
3. the processing method of manipulator according to claim 1 is characterized in that: described step 2), carry out in the rectangular billet front generally milling processing and staying allowance 0.3mm.
4. the processing method of manipulator according to claim 1 is characterized in that: in the described step 4), the macropore of locating is carried out centering and adds man-hour, stay allowance 2mm.
5. the processing method of manipulator according to claim 1 is characterized in that: in the described step 6), the center of installing hole, middle installing hole and lower installing hole is with positive vertical range and stay allowance 0.2mm in the processing.
6. the processing method of manipulator according to claim 1 is characterized in that: in the described step 9), when processing left the width of left mechanical arm and right 's the width of right mechanical arm, stay allowance 0.3mm.
CN201210338760.4A 2012-09-14 2012-09-14 Processing method of manipulators Expired - Fee Related CN102848152B (en)

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CN102848152A true CN102848152A (en) 2013-01-02
CN102848152B CN102848152B (en) 2015-03-25

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103862236A (en) * 2014-03-07 2014-06-18 苏州捷德瑞精密机械有限公司 Processing method of mechanical parts
CN106514139A (en) * 2016-11-03 2017-03-22 山西太钢不锈钢股份有限公司 Production method for multifunctional spherical clamp
CN107378082A (en) * 2017-08-24 2017-11-24 湖南凯斯机械股份有限公司 The monoblock type processing method and its fixture of a kind of transition
CN108942112A (en) * 2018-08-24 2018-12-07 武汉联航机电有限公司 A kind of processing method positioning clamping jaw

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH081556A (en) * 1994-06-17 1996-01-09 I A I:Kk Robot operation method
CN201098897Y (en) * 2007-09-14 2008-08-13 耿宗亮 Manipulator capable of rotating work-piece
WO2009157190A1 (en) * 2008-06-27 2009-12-30 パナソニック株式会社 Robot hand and robot arm
CN201815021U (en) * 2010-10-12 2011-05-04 浙江工业大学 Mechanical hand mechanism capable of being closed automatically
CN102581846A (en) * 2012-03-19 2012-07-18 梁首强 Manipulator, method for manufacturing same and application method of manipulator
CN102581845A (en) * 2012-03-15 2012-07-18 梁首强 Preparation method of manipulator and manipulator prepared by same

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH081556A (en) * 1994-06-17 1996-01-09 I A I:Kk Robot operation method
CN201098897Y (en) * 2007-09-14 2008-08-13 耿宗亮 Manipulator capable of rotating work-piece
WO2009157190A1 (en) * 2008-06-27 2009-12-30 パナソニック株式会社 Robot hand and robot arm
CN201815021U (en) * 2010-10-12 2011-05-04 浙江工业大学 Mechanical hand mechanism capable of being closed automatically
CN102581845A (en) * 2012-03-15 2012-07-18 梁首强 Preparation method of manipulator and manipulator prepared by same
CN102581846A (en) * 2012-03-19 2012-07-18 梁首强 Manipulator, method for manufacturing same and application method of manipulator

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103862236A (en) * 2014-03-07 2014-06-18 苏州捷德瑞精密机械有限公司 Processing method of mechanical parts
CN106514139A (en) * 2016-11-03 2017-03-22 山西太钢不锈钢股份有限公司 Production method for multifunctional spherical clamp
CN106514139B (en) * 2016-11-03 2018-09-14 山西太钢不锈钢股份有限公司 A kind of production method of multi-function ball clamp
CN107378082A (en) * 2017-08-24 2017-11-24 湖南凯斯机械股份有限公司 The monoblock type processing method and its fixture of a kind of transition
CN108942112A (en) * 2018-08-24 2018-12-07 武汉联航机电有限公司 A kind of processing method positioning clamping jaw

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Effective date of registration: 20180523

Address after: No. 219 Changzheng Road, Xiaogan, Hubei Province

Patentee after: HUBEI SPACE DOUBLE RHOMBUS LOGISTICS TECHNOLOGY CO., LTD.

Address before: No. 219 Changzheng Road, Xiaogan, Hubei Province

Patentee before: Hubei Space Sanjiang Honglin Electrical and Mechanical Technology Co.,Ltd.

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: 20150325

Termination date: 20200914