CN103659007A - Manipulator for conveying pipes - Google Patents

Manipulator for conveying pipes Download PDF

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Publication number
CN103659007A
CN103659007A CN201310616588.9A CN201310616588A CN103659007A CN 103659007 A CN103659007 A CN 103659007A CN 201310616588 A CN201310616588 A CN 201310616588A CN 103659007 A CN103659007 A CN 103659007A
Authority
CN
China
Prior art keywords
manipulator
jaw
tubing
shaft
rod
Prior art date
Application number
CN201310616588.9A
Other languages
Chinese (zh)
Other versions
CN103659007B (en
Inventor
邵新宇
李斌
郭平华
段正澄
黄禹
王征
熊家毅
叶祖福
田助新
李贺
陈源
Original Assignee
武汉法利莱切割系统工程有限责任公司
华中科技大学
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 武汉法利莱切割系统工程有限责任公司, 华中科技大学 filed Critical 武汉法利莱切割系统工程有限责任公司
Priority to CN201310616588.9A priority Critical patent/CN103659007B/en
Publication of CN103659007A publication Critical patent/CN103659007A/en
Application granted granted Critical
Publication of CN103659007B publication Critical patent/CN103659007B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00Working by laser beam, e.g. welding, cutting or boring
    • B23K26/70Auxiliary operations or equipment
    • B23K26/702Auxiliary equipment
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00Articles made by soldering, welding or cutting
    • B23K2101/04Tubular or hollow articles
    • B23K2101/06Tubes

Abstract

The invention relates to a manipulator for conveying pipes and discloses a manipulator system for reverse feeding of the pipes different in length and section shape. The manipulator system is composed of a set of manipulators coaxially arranged. Each manipulator comprises an upper clamping jaw, a lower clamping jaw, a connecting rod set, an air cylinder, a connecting rod, a support shaft, an electric actuator, a guide rail and a roller. The whole manipulator is fixed on a square shaft of a base through a square hole formed in the manipulator and driven to rotate by rotating of the square shaft on the base. The manipulator for conveying the pipes has the advantages of easily guaranteed precision, stable motion, high feeding efficiency, wide application range and the like, and capabilities of being applicable to reverse feeding of the pipes different in length and section shape in different pipe machining equipment.

Description

A kind of manipulator transmitting for tubing
Technical field
The present invention relates to a kind of manipulator, be mainly used in the conveying of all lengths and cross sectional shape tubing in field of laser processing.
Background technology
At present, in field of laser processing, the processing cutting of tubing occupies certain proportion, first the purposes of the special-purpose laser cutting machine of tubing is the tubing of the various materials of cutting processing, exactly can be on the tubing of various cross sectional shapes incising circular, burrow, punch, even whole tubing can be carried out to integral cutting and process to do other special-purposes.In whole process, feeding process is an important step, fast and accurately tubing is transported to the efficiency that Working position can improve whole process, guarantees crudy.Existing robot device is ten hundreds of, and purposes is totally different, and the manipulator that is exclusively used in pipe clamping, conveying also has a lot, but the robot device that is not applied to square tube clamping, carries.
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.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of single manipulator mechanism;
Fig. 2 is the scheme of installation of manipulator.
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.

Claims (4)

1. the manipulator transmitting for square tube, is characterized in that: described manipulator comprises upper and lower jaw (1,6) connection rod set (2), cylinder (3), connecting rod (4), back shaft (7), YE (8), guide rail (9) and roller (10);
Wherein, the jaw up and down of described manipulator (1,6) is connected by connecting rod (4) with described cylinder (3), under driving at described cylinder (3), realize described upper and lower jaw (1,6) moving around along guide rail (9), with this, realize synchronously stretching out and retracting of described upper and lower jaw (1,6), described connection rod set (2) consists of symmetrical up and down four air cylinder connecting rods (2), the jaw up and down of described manipulator by this up and down the synchronous up-down stretch of symmetrical four air cylinder connecting rods (2) 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 (8) drives described roller (10) to stretch out, and prepares square tube to carry out lateral register;
Described back shaft (7) 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.
2. manipulator according to claim 1, wherein said air cylinder driven jaw stretches out, and utilizes pair of rollers tubing lateral register simultaneously, after this tubing transmittance process completes, air cylinder driven jaw retraction original position.
3. an arm-and-hand system, is comprised of a plurality of manipulators that are arranged on same axis, and described manipulator is manipulator claimed in claim 1.
Manipulator as claimed in claim 1 or 2 in field of laser processing to the application in the conveying of all lengths and cross sectional shape tubing.
CN201310616588.9A 2013-11-27 2013-11-27 Manipulator for conveying pipes, manipulator system and application of manipulator CN103659007B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310616588.9A CN103659007B (en) 2013-11-27 2013-11-27 Manipulator for conveying pipes, manipulator system and application of manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310616588.9A CN103659007B (en) 2013-11-27 2013-11-27 Manipulator for conveying pipes, manipulator system and application of manipulator

Publications (2)

Publication Number Publication Date
CN103659007A true CN103659007A (en) 2014-03-26
CN103659007B CN103659007B (en) 2015-04-08

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103949776A (en) * 2014-05-05 2014-07-30 张家港江苏科技大学产业技术研究院 Full-automatic pipe laser-cutting device
CN105083996A (en) * 2015-09-02 2015-11-25 镇江泛沃汽车零部件有限公司 Feeding mechanism used for oil coating of detection gear in steering wheel power-assisted steering system
CN105880407A (en) * 2016-05-04 2016-08-24 查伟民 Conveying device working before shearing and laying off metal sheet
CN106271123A (en) * 2016-08-11 2017-01-04 潍坊环宇纺织品有限公司 The automatic movement system of cutting machine cloth
CN106392442A (en) * 2016-05-30 2017-02-15 安徽柯力电气制造有限公司 Automatic turning device for weighing elastic bodies
CN106468299A (en) * 2015-08-19 2017-03-01 通用汽车环球科技运作有限责任公司 Expand positioning clamping pin
US10081063B2 (en) 2015-08-19 2018-09-25 GM Global Technology Operations LLC Expanding locating pin with controlled holding force
CN109227088A (en) * 2018-11-14 2019-01-18 绍兴文理学院 For assembling the device of tubular workpiece

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4473249A (en) * 1982-05-05 1984-09-25 Valentine Al L Extensible manipulator unit
JPH11221786A (en) * 1998-02-09 1999-08-17 Meidensha Corp Hand
CN2499185Y (en) * 2001-09-28 2002-07-10 中国第一汽车集团公司 Multifunctional press quenching robot
CN2589419Y (en) * 2002-04-02 2003-12-03 机械工业部西安重型机械研究所 Mechanical arm apparatus for tubular product discharging
CN201239949Y (en) * 2008-08-21 2009-05-20 陈志良 Cylinder and claw separating type manipulator holding structure
CN202862216U (en) * 2012-10-25 2013-04-10 成都市新筑路桥机械股份有限公司 Manipulator used for assembling and disassembling disc-shaped or cylinder-shaped workpiece

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4473249A (en) * 1982-05-05 1984-09-25 Valentine Al L Extensible manipulator unit
JPH11221786A (en) * 1998-02-09 1999-08-17 Meidensha Corp Hand
CN2499185Y (en) * 2001-09-28 2002-07-10 中国第一汽车集团公司 Multifunctional press quenching robot
CN2589419Y (en) * 2002-04-02 2003-12-03 机械工业部西安重型机械研究所 Mechanical arm apparatus for tubular product discharging
CN201239949Y (en) * 2008-08-21 2009-05-20 陈志良 Cylinder and claw separating type manipulator holding structure
CN202862216U (en) * 2012-10-25 2013-04-10 成都市新筑路桥机械股份有限公司 Manipulator used for assembling and disassembling disc-shaped or cylinder-shaped workpiece

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103949776A (en) * 2014-05-05 2014-07-30 张家港江苏科技大学产业技术研究院 Full-automatic pipe laser-cutting device
CN103949776B (en) * 2014-05-05 2016-06-15 张家港江苏科技大学产业技术研究院 A kind of full-automatic pipe laser cutting device
US10081064B2 (en) 2015-08-19 2018-09-25 GM Global Technology Operations LLC Expanding locating and clamping pin
CN106468299B (en) * 2015-08-19 2019-10-15 通用汽车环球科技运作有限责任公司 Expansion positioning clamps pin
CN106468299A (en) * 2015-08-19 2017-03-01 通用汽车环球科技运作有限责任公司 Expand positioning clamping pin
US10081063B2 (en) 2015-08-19 2018-09-25 GM Global Technology Operations LLC Expanding locating pin with controlled holding force
CN105083996A (en) * 2015-09-02 2015-11-25 镇江泛沃汽车零部件有限公司 Feeding mechanism used for oil coating of detection gear in steering wheel power-assisted steering system
CN105880407B (en) * 2016-05-04 2018-03-02 查伟民 Feed device before a kind of sheet metal shearing blanking
CN105880407A (en) * 2016-05-04 2016-08-24 查伟民 Conveying device working before shearing and laying off metal sheet
CN106392442A (en) * 2016-05-30 2017-02-15 安徽柯力电气制造有限公司 Automatic turning device for weighing elastic bodies
CN106271123A (en) * 2016-08-11 2017-01-04 潍坊环宇纺织品有限公司 The automatic movement system of cutting machine cloth
CN109227088A (en) * 2018-11-14 2019-01-18 绍兴文理学院 For assembling the device of tubular workpiece

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