Summary of the invention
The object of this invention is to provide a kind of novel mechanical hand system of carrying for tubing, this device can be used for the accurate conveying of all lengths and cross sectional shape tubing.
For achieving the above object, technical scheme of the present invention is as follows:
The manipulator transmitting for square tube, is characterized in that: described manipulator comprises upper and lower jaw connection rod set, cylinder, connecting rod, back shaft, YE, guide rail and roller;
Wherein, the jaw up and down of described manipulator is connected by connecting rod with described cylinder, to realize the moving around along guide rail of described upper and lower jaw under described air cylinder driven, with this, realize synchronously stretching out and retracting of described upper and lower jaw, described connection rod set consists of four symmetrical up and down air cylinder connecting rods, the jaw up and down of described manipulator by this up and down the synchronous up-down stretch of four symmetrical air cylinder connecting rods realize synchronously stepping up and unclamping tubing;
Wherein, the clamping face of described jaw is plane, and whole manipulator is fixed on the square shaft of base by the square hole arranging on it, by the square shaft of described base, rotates to drive described manipulator synchronously to rotate; At square shaft, rotate counterclockwise in process, described YE drives described roller to stretch out, and prepares square tube to carry out lateral register;
Described back shaft is arranged on the bottom of described manipulator, and vertical with described clamping face, in order to supported mechanical hand, guarantees when tubing is sent in desirable clamping position.
An arm-and-hand system, consists of the manipulator that described manipulator is above-mentioned a plurality of manipulators that are arranged on same axis.
The present invention has precision and is easy to the features such as assurance, motion stabilization, loading efficiency be high, applied widely, can be used for the tubing upset material loading of all lengths, cross sectional shape in different tubing process equipments.
The specific embodiment
Below in conjunction with accompanying drawing and by the specific embodiment, further illustrate technical scheme of the present invention.
As shown in Figure 1, manipulator of the present invention comprises upper and lower jaw 1,6, connection rod set 2, cylinder 3, connecting rod 4, back shaft 7, YE 8, guide rail 9, roller 10.The jaw up and down 1,6 of manipulator is connected by connecting rod 4 with cylinder 3, can under cylinder 3 is controlled, realize upper and lower jaw 1,6 and move around along guide rail 9, with this, realizes synchronously stretching out and retracting of upper and lower jaw 1,6, completes the conveying that the spy of tubing is got.The jaw of manipulator is realized synchronously stepping up and unclamping tubing by the synchronous up-down stretch of four symmetrical up and down air cylinder connecting rods 2, and the clamping face of jaw is plane, guarantee that like this tubing material loading is stable, clamp stressed evenly, back shaft 7 and clamping face vertical can guarantee square tube when being sent in desirable clamping position.
One group of jaw drives synchronization telescope by cylinder 3, cylinder 3 drives jaw partly to stretch out by connecting rod 4 simultaneously, 10 pairs of tubing of roller carry out lateral register simultaneously, by connection rod set 2, drive jaws 1,6 synchronously to center, to move to realize tubing and clamp, in addition when jaw protrudes upward preparation gripping tubing, tubing is also movable longitudinally to and clamps position, has greatly improved the synchronism, clamping precision and the efficiency that clamp.
YE 8 driving rolls 10 stretch out, and prepare tubing lateral register.After all tubing transmittance process completes, YE 8 driving rolls 10 retraction original positions.
Whole manipulator is fixed on by square hole 5 on the square shaft of base, by the rotation of base upper shaft, comes driving mechanical hand to rotate, and in rotation process, YE 8 driving rolls 10 stretch out, and prepares tubing lateral register.Manipulator stops after turning to clamping position, now under tubing edge, pushes away frame and moves down, and cylinder 3, by moving on connecting rod 4 promotion robots, stops after roller 10 contact tubing complete lateral register simultaneously.Then upper and lower jaw 1,6 synchronously moves and clamps tubing to center under air cylinder connecting rod 2 drives, rotation by base upper shaft drives this group manipulator to rotate backward until back shaft 7 stops after encountering desktop again, after tubing clamping completes, jaw unclamps, manipulator is return, this time feeding completes, and repeats said process and carries out feeding next time.
As shown in Figure 2, on cutting equipment, there are three manipulators 11,12,13, survey major axis 14, motor 15, axle 16.Three manipulators 11,12,13 are arranged on axle 16, and axle 16 is connected with motor 15.First, motor 15 synchronously turns to down after pushing away under frame and stops operating with three manipulators on moving axis 16, now, under tubing edge, pushing away frame moves down, cylinder promotes to move on three manipulators by connecting rod simultaneously, stop motion after manipulator contacts with tubing, then upper and lower jaw synchronously moves and clamps tubing to center under air cylinder connecting rod drives, three manipulators clamp tubing, by motor 15, drive the rotation of base upper shaft that manipulator is synchronously rotated, until back shaft stops after encountering desktop, tubing is transported to position to be processed, then manipulator synchronously unclamps tubing, return original position, preparing tubing next time carries.
The above; be only the present invention's specific embodiment preferably, but the scope of protection of the invention is not limited to this, is anyly familiar with in technical scope that those skilled in the art disclose in the present invention; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.