CN103056710B - A kind of mechanical manipulator - Google Patents
A kind of mechanical manipulator Download PDFInfo
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- CN103056710B CN103056710B CN201210592773.4A CN201210592773A CN103056710B CN 103056710 B CN103056710 B CN 103056710B CN 201210592773 A CN201210592773 A CN 201210592773A CN 103056710 B CN103056710 B CN 103056710B
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Abstract
The present invention provides a kind of mechanical manipulator, comprise the first product pawl, the 2nd product pawl, first substrate, parallel folder refer to cylinder, throwing mechanism and control device; With parallel folder, described control device refers to that cylinder connects with described throwing mechanism respectively; Described parallel folder refers to that cylinder is fixedly installed in the lower end cavity of described first substrate; Described parallel folder refers to that the lower end both sides of cylinder are fixedly connected with described first product pawl and the 2nd product pawl respectively; Described throwing mechanism is arranged on the back side of described first substrate, and one end of described throwing mechanism extends to the front of described first substrate. Present configuration is simple, refers to that product is clamped by cylinder by parallel folder, and product is pressed into main shaft chuck by throwing mechanism completely, and product is pushed away into main shaft chuck by this device flexibly, avoids converted products and main shaft chuck rigid collision.
Description
Technical field
The present invention relates to machine tool technology field, particularly relate to the mechanical manipulator on a kind of lathe.
Background technology
Lathe is the machine that metal blank is processed into machine parts, and it is the machine of manufacturing machine, so being also called " machine-tool " or " machine tool ", it is called for short lathe traditionally. The part that all genus accuracy requirements are higher and surfaceness requirement is thinner, generally all finally need to process by the method cut on lathe. In general manufacture, the processing workload that lathe is undertaken accounts for the 40%-60% of the total manufacturing effort of machine, and lathe plays significant role in the construction of national economic modernization.
Mechanical manipulator is parts essential on lathe, and the direct gripping product of mechanical manipulator puts into main shaft chuck, when the phenomenon that cannot normally put into can occur in product space not timing, produces collision phenomenon time more serious. The serious stability affecting product mounting.
Summary of the invention
(1) technical problem solved
The problem to be solved in the present invention is to provide a kind of mechanical manipulator, puts into, to overcome product in prior art, the defect that the phenomenon that cannot normally put into can occur main shaft chuck.
(2) technical scheme
For solveing the technical problem, the present invention provides a kind of mechanical manipulator, comprise the first product pawl, the 2nd product pawl, first substrate, parallel folder refer to cylinder, throwing mechanism and control device; With parallel folder, described control device refers to that cylinder connects with described throwing mechanism respectively; Described parallel folder refers to that cylinder is fixedly installed in the lower end cavity of described first substrate; Described parallel folder refers to that the lower end both sides of cylinder are fixedly connected with described first product pawl and the 2nd product pawl respectively; Described throwing mechanism is arranged on the back side of described first substrate, and one end of described throwing mechanism extends to the front of described first substrate.
Further, described parallel folder refers to that cylinder comprises the first support, the 2nd support and the first cylinder; Described first support and the 2nd support are separately positioned on left side and the right side of described first cylinder.
Further, described first product pawl comprises the first claw and the first web member, and described first web member one end is fixedly connected with described first claw, and the other end is fixedly connected with described first support.
Further, described 2nd product pawl comprises the 2nd claw and the 2nd web member, and described 2nd web member one end is fixedly connected with described 2nd claw, and the other end is fixedly connected with described 2nd support.
Further, described throwing mechanism is the 2nd cylinder.
Further, described 2nd cylinder and a pad are equipped with at the back side of described first substrate, and my the other end of described pad extends to the first claw and the lower section of the 2nd claw.
Further, the other end of described 2nd cylinder is provided with cylindrical, top block.
Further, described mechanical manipulator also comprises a vibration motor, and described vibration motor is arranged on the back side of described first substrate, and is fixed on described pad.
(3) useful effect
The mechanical manipulator of the present invention, structure is simple, refers to that product is clamped by cylinder by parallel folder, and product is pressed into main shaft chuck by throwing mechanism completely, and product is pushed away into main shaft chuck by this device flexibly, avoids converted products and main shaft chuck rigid collision.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention one mechanical manipulator;
Fig. 2 is the explosive view of the embodiment of the present invention one mechanical manipulator;
Fig. 3 be the embodiment of the present invention one mechanical manipulator and product in conjunction with time structural representation;
Fig. 4 be the embodiment of the present invention one mechanical manipulator with lathe in conjunction with time structural representation;
Fig. 5 is the structural representation of the embodiment of the present invention two mechanical manipulator.
In figure, 1 is the first product pawl, and 2 is first substrate, and 3 is the first support, 4 is the 2nd cylinder, and 5 is the first cylinder, and 6 is the 2nd support, and 7 is the 2nd product pawl, 8 is the first claw, and 9 is the 2nd claw, and 10 is the first web member, and 11 is the 2nd web member, 12 is pad, and 13 is top block, and 14 is product, and 15 is main shaft chuck, 16 is mechanical arm, and 17 is second substrate, and 18 is the 3rd substrate, 19 is lathe bed, and 20 is vibration motor, and 21 refer to cylinder for parallel folder.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail. Following examples are for illustration of the present invention, but are not used for limiting the scope of the invention.
Embodiment one
As shown in Figures 1 to 4, the throwing mechanism of the present embodiment is selected is the 2nd cylinder 4. When adopting parallel folder to refer to that cylinder 21 captures product, the width between centers of the first product pawl 1 and the 2nd product pawl 7 and product 14 can be consistent.
A kind of mechanical manipulator of the present invention, comprise the first product pawl 1, the 2nd product pawl 7, first substrate 2, parallel folder refer to cylinder 21, the 2nd cylinder 4 and control device; With parallel folder, above-mentioned control device refers to that cylinder 21 connects with above-mentioned 2nd cylinder 4 respectively, ejecting and the folding of the 2nd cylinder 4 of control the 2nd cylinder 4; Above-mentioned parallel folder refers to that cylinder 21 comprises the first support 3, the 2nd support 6 and the first cylinder 5, and above-mentioned first support 3 and the 2nd support 6 are separately positioned on left side and the right side of above-mentioned first cylinder 5.
Above-mentioned first cylinder 5 is screwed in the lower end cavity being arranged on above-mentioned first substrate 2; Above-mentioned first support 3 and the 2nd support 6 times ends are fixedly connected with above-mentioned first product pawl 1 and the 2nd product pawl 7 respectively; Above-mentioned 2nd cylinder 4 is arranged on the back side of above-mentioned first substrate 2, and one end of above-mentioned 2nd cylinder 4 extends to the front of above-mentioned first substrate 2.
Mechanical manipulator also comprises mechanical arm 16, and above-mentioned mechanical arm 16 is screwed and is arranged on above-mentioned first substrate 2 upper end. Lathe comprises lathe bed 19, the 3rd substrate 18 and second substrate 17; Above-mentioned 3rd substrate 18 is screwed and is arranged on above-mentioned lathe bed 19, and above-mentioned second substrate 17 is slidably connected with above-mentioned 3rd substrate about 18, and above-mentioned second substrate 17 slides up and down with above-mentioned mechanical arm 16 and is connected.
Above-mentioned first product pawl 1 comprises the first claw 8 and the first web member 10, and above-mentioned first web member 10 one end is screwed with above-mentioned first claw 8 and is connected, and the other end is screwed with above-mentioned first support 3 and is connected. Above-mentioned 2nd product pawl 7 comprises the 2nd claw 9 and the 2nd web member 11, and above-mentioned 2nd web member 11 one end is screwed with above-mentioned 2nd claw 9 and is connected, and the other end is screwed with above-mentioned 2nd support 6 and is connected. The cross-sectional shape of above-mentioned first claw 8 and the 2nd claw 9 is Y font, and Y font structure is conducive to capturing product 14.
Above-mentioned 2nd cylinder 4 and a pad 12 are equipped with at the back side of above-mentioned first substrate 2, and my the other end of above-mentioned pad 12 extends to the first claw 8 and the lower section of the 2nd claw 9. Above-mentioned pad 12 plays and prevents product 14 from dropping, and the pad 12 exchanging different thickness when product 14 is changed is adapted to. The other end of above-mentioned 2nd cylinder 4 is provided with cylindrical, top block 13. Above-mentioned top block 13 for holding out against product 14 use.
During work, by control device control, product 14 is clamped by mechanical manipulator by the first product pawl 1 and the 2nd product pawl 7, before product 14 is sent into main shaft chuck 15, the first product pawl 1 and the 2nd product pawl 7 do not compress but also do not decontrol product 14 simultaneously, now, product 14 does not enter in main shaft chuck 15, afterwards, the 2nd cylinder 4 gives product 14 1 pressure, with top block 13, product 14 is pressed in main shaft chuck 15 completely. Avoid converted products and main shaft chuck 15 rigid collision.
The mechanical manipulator of the present invention, structure is simple, refers to that product is clamped by cylinder by parallel folder, and product is pressed into main shaft chuck by throwing mechanism completely, and product is pushed away into main shaft chuck by this device flexibly, avoids converted products and main shaft chuck rigid collision.
Embodiment two
Embodiment two is substantially identical with embodiment one, difference with: pad 12 is equipped with a vibration motor 20.
As shown in Figure 5, above-mentioned vibration motor 20 is arranged on the back side of above-mentioned first substrate 2, and is fixed on above-mentioned pad 12. The effect of vibration motor 20 is: when product space has deviation, vibrates and just can do one and finely tuned. Once vibrate with regard to adding constantly when the 2nd cylinder 4 pushes away the excess of imports, if overtime whole device is with regard to alarm again.
In sum, above-mentioned enforcement mode is not the restricted enforcement mode of the present invention, and the modification that the technician of all this areas carries out on the basis of the flesh and blood of the present invention or equivalent deformation, all at the technology category of the present invention.
Claims (8)
1. a mechanical manipulator, comprise the first product pawl (1), the 2nd product pawl (7), throwing mechanism and control device, it is characterised in that: described mechanical manipulator also comprises first substrate (2) and refers to cylinder (21) with parallel folder; With described throwing mechanism and parallel folder, described control device refers to that cylinder (21) connects respectively;
Described parallel folder refers to that cylinder (21) is fixedly installed in the lower end cavity of described first substrate (2); Described parallel folder refers to that the lower end both sides of cylinder (21) are fixedly connected with described first product pawl (1) and the 2nd product pawl (7) respectively; Described throwing mechanism is arranged on the back side of described first substrate (2), and one end of described throwing mechanism extends to the front of described first substrate (2).
2. mechanical manipulator according to claim 1, it is characterised in that: described parallel folder refers to that cylinder (21) comprises the first support (3), the 2nd support (6) and the first cylinder (5); Described first support (3) and the 2nd support (6) are separately positioned on left side and the right side of described first cylinder (5).
3. mechanical manipulator according to claim 2, it is characterized in that: described first product pawl (1) comprises the first claw (8) and the first web member (10), described first web member (10) one end is fixedly connected with described first claw (8), and the other end is fixedly connected with described first support (3).
4. mechanical manipulator according to claim 3, it is characterized in that: described 2nd product pawl (7) comprises the 2nd claw (9) and the 2nd web member (11), described 2nd web member (11) one end is fixedly connected with described 2nd claw (9), and the other end is fixedly connected with described 2nd support (6).
5. mechanical manipulator according to claim 4, it is characterised in that: described throwing mechanism is the 2nd cylinder (4).
6. mechanical manipulator according to claim 5, it is characterized in that: described 2nd cylinder (4) and a pad (12) are equipped with at the back side of described first substrate (2), and the other end of described pad (12) extends to the first claw (8) and the lower section of the 2nd claw (9).
7. mechanical manipulator according to claim 6, it is characterised in that: the other end of described 2nd cylinder (4) is provided with cylindrical, top block (13).
8. mechanical manipulator according to claim 6 or 7, it is characterized in that: described mechanical manipulator also comprises a vibration motor (20), described vibration motor (20) is arranged on the back side of described first substrate (2), and is fixed on described pad (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210592773.4A CN103056710B (en) | 2012-12-28 | 2012-12-28 | A kind of mechanical manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210592773.4A CN103056710B (en) | 2012-12-28 | 2012-12-28 | A kind of mechanical manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103056710A CN103056710A (en) | 2013-04-24 |
| CN103056710B true CN103056710B (en) | 2016-06-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210592773.4A Active CN103056710B (en) | 2012-12-28 | 2012-12-28 | A kind of mechanical manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103056710B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103278410A (en) * | 2013-05-10 | 2013-09-04 | 深圳华美板材有限公司 | Color-coated sheet wiping apparatus |
| CN106272528A (en) * | 2016-09-13 | 2017-01-04 | 苏州驱指自动化科技有限公司 | 90 degree of folder function connectors |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2254784A1 (en) * | 1971-11-25 | 1973-05-30 | Werkzeugmasch Okt Veb | GRIPPING DEVICE FOR ROTATIONAL SYMMETRIC WORKPIECES |
| JPH0232096B2 (en) * | 1983-05-30 | 1990-07-18 | Nippei Toyama Corp | HAJISOCHI |
| DE20204667U1 (en) * | 2002-03-23 | 2003-08-07 | Zimmer Guenther Stephan | Parallel gripper has pairs of movable gripper elements supported by slide carriages having active wedge flanks and pressure members guided transversely to gripping direction |
| CN203125239U (en) * | 2012-12-28 | 2013-08-14 | 余姚市嘉力机械设备制造有限公司 | Mechanical arm |
-
2012
- 2012-12-28 CN CN201210592773.4A patent/CN103056710B/en active Active
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| Publication number | Publication date |
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| CN103056710A (en) | 2013-04-24 |
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