CN103659007B - Manipulator for conveying pipes, manipulator system and application of manipulator - Google Patents
Manipulator for conveying pipes, manipulator system and application of manipulator Download PDFInfo
- Publication number
- CN103659007B CN103659007B CN201310616588.9A CN201310616588A CN103659007B CN 103659007 B CN103659007 B CN 103659007B CN 201310616588 A CN201310616588 A CN 201310616588A CN 103659007 B CN103659007 B CN 103659007B
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- Prior art keywords
- manipulator
- tubing
- jaw
- connecting rod
- square
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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
Technical field
The present invention relates to a kind of manipulator, be mainly used in the conveying of various length 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 laser cutting machine of tubing is the tubing of the various material of cutting processing, exactly can on the tubing of various cross sectional shape incising circular, burrow, punch, even whole tubing can be carried out integral cutting processing and 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, ensures crudy.Existing robot device is ten hundreds of, and purposes is totally different, is exclusively used in pipe clamping, the manipulator of conveying also has a lot, but is not applied to the robot device of square tube clamping, conveying.
Summary of the invention
The object of this invention is to provide a kind of Novel manipulator system for tubing conveying, this device can be used for the accurate conveying of various length and cross sectional shape tubing.
For achieving the above object, technical scheme of the present invention is as follows:
For the manipulator that square tube transmits, it 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, synchronously stretching out and retracting of described upper and lower jaw is realized with this, described connection rod set is made up of four symmetrical up and down air cylinder connecting rods, and the jaw up and down of described manipulator realizes synchronously stepping up and unclamping tubing by the synchronous up-down stretch of these four symmetrical up and down air cylinder connecting rods;
Wherein, the clamping face of described jaw is plane, and whole manipulator is fixed on the square shaft of base by the square hole that it is arranged, and is rotated drive described manipulator synchronous axial system by the square shaft of described base; Rotate counterclockwise in process at square shaft, described YE drives described roller to stretch out, and prepares to carry out lateral register to square tube;
Described back shaft is arranged on the bottom of described manipulator, and vertical with described clamping face, in order to supported mechanical hand, is in desirable clamping position when ensureing that tubing is sent.
A kind of arm-and-hand system, is made up of the multiple manipulators be arranged on same axis, the manipulator that described manipulator is above-mentioned.
The present invention has precision and is easy to the features such as guarantee, motion stabilization, loading efficiency are high, applied widely, can be used for the tubing upset material loading of various length, cross sectional shape in different tubular object extruding equipment.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of single manipulator mechanism;
Fig. 2 is the scheme of installation of manipulator.
Detailed description of the invention
Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
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 realize upper and lower jaw 1,6 and move around along guide rail 9, realize synchronously stretching out and retracting of upper and lower jaw 1,6, complete the conveying of getting the spy of tubing with this under cylinder 3 controls.The jaw of manipulator realizes 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 tubing material loading is stablized like this, clamping uniform force, back shaft 7 is vertical with clamping face, can ensure that square tube is in desirable clamping position when being sent.
One group of jaw drives synchronization telescope by cylinder 3, cylinder 3 drives gripping portions to stretch out by connecting rod 4 simultaneously, roller 10 pairs of tubing carry out lateral register simultaneously, drive jaw 1,6 synchronously to move to center by connection rod set 2 and realize tubing clamping, in addition when jaw protrudes upward preparation gripping tubing, tubing is also movable longitudinally to clamping position, substantially increases the synchronism of clamping, clamping precision and efficiency.
YE 8 driving rolls 10 stretches out, and prepares tubing lateral register.After whole tubing transmittance process completes, YE 8 driving rolls 10 is retracted original position.
Whole manipulator is fixed on the square shaft of base by square hole 5, and carry out driving mechanical hand by the rotation of base upper shaft and rotate, in rotation process, YE 8 driving rolls 10 stretches out, and prepares tubing lateral register.Manipulator stops after turning to clamping position, and now tubing moves down along lower push bracket, and cylinder 3 is by connecting rod 4 promotion robot moves simultaneously, contacts after tubing completes lateral register stop to roller 10.Then jaw 1,6 synchronous movement to center under air cylinder connecting rod 2 drives clamps tubing up and down, this group manipulator is driven to rotate backward until back shaft 7 stops after encountering desktop by the rotation of base upper shaft 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, cutting equipment has 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 stops operating after under the manipulator synchronous axial system to lower push bracket of three on moving axis 16, now, tubing moves down along lower push bracket, cylinder promotes three manipulators move by connecting rod simultaneously, stop motion after manipulator contacts with tubing, then jaw synchronous movement to center under air cylinder connecting rod drives clamps tubing up and down, tubing clamps by three manipulators, the rotation of base upper shaft is driven to make manipulator synchronous axial system by motor 15, until back shaft stops after encountering desktop, tubing is transported to position to be processed, then manipulator synchronously unclamps tubing, return original position, prepare tubing conveying next time.
The above; be only the present invention's preferably detailed description of the invention, but the scope of protection of the invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within protection scope of the present invention.
Claims (3)
1. the manipulator transmitted for square tube, it 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 (1 of described manipulator, 6) be connected by connecting rod (4) with described cylinder (3), described upper and lower jaw (1 is realized under driving at described cylinder (3), 6) moving around along guide rail (9), described upper and lower jaw (1 is realized with this, 6) synchronously stretch out and retract, described connection rod set (2) is made up of four symmetrical up and down air cylinder connecting rods (2), the jaw up and down of described manipulator realizes synchronously stepping up and unclamping tubing by the synchronous up-down stretch of these four symmetrical up and down air cylinder connecting rods (2),
The clamping face of described jaw is plane, and whole manipulator is fixed on the square shaft of base by the square hole that it is arranged, and is rotated drive described manipulator synchronous axial system by the square shaft of described base; Rotate counterclockwise in process at square shaft, described YE (8) drives described roller (10) to stretch out, and prepares to carry out lateral register to square tube; Manipulator stops after turning to clamping position, and now tubing moves down along lower push bracket, and cylinder is by connecting rod promotion robot moves simultaneously, stops after roller contact tubing completes 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, is in desirable clamping position when ensureing that tubing is sent; Wherein said air cylinder driven jaw stretches out, and utilizes pair of rollers tubing lateral register simultaneously, after this tubing transmittance process completes, and air cylinder driven jaw retraction original position.
2. an arm-and-hand system, is made up of the multiple manipulators be arranged on same axis, and described manipulator is manipulator according to claim 1.
3. the application of manipulator as claimed in claim 1 in the conveying of field of laser processing to various length and cross sectional shape tubing.
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 CN103659007A (en) | 2014-03-26 |
| CN103659007B true CN103659007B (en) | 2015-04-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310616588.9A Active CN103659007B (en) | 2013-11-27 | 2013-11-27 | Manipulator for conveying pipes, manipulator system and application of manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN103659007B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
| CN106271123B (en) * | 2016-08-11 | 2018-07-06 | 潍坊环宇纺织品有限公司 | The automatic movement system of cutting machine cloth |
| CN107097391A (en) * | 2017-06-16 | 2017-08-29 | 苏州金纬机械制造有限公司 | The clamping device of hauling machine |
| CN109227088B (en) * | 2018-11-14 | 2020-07-07 | 绍兴文理学院 | Device for assembling tubular workpieces |
| CN111661595B (en) * | 2020-05-26 | 2021-07-27 | 广东宏石激光技术股份有限公司 | Pipe feeding equipment and pipe feeding method using same |
Citations (6)
| 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 |
-
2013
- 2013-11-27 CN CN201310616588.9A patent/CN103659007B/en active Active
Patent Citations (6)
| 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 |
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| Publication number | Publication date |
|---|---|
| CN103659007A (en) | 2014-03-26 |
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Effective date of registration: 20220110 Address after: 436070 area a, west of Chuangye Avenue, Gedian Development Zone, Ezhou City, Hubei Province Patentee after: HUAGONG FARLEY CUTTING AND WELDING SYSTEM ENGINEERING Co.,Ltd. Patentee after: Huazhong University of Science and Technology Address before: 430223 laser Industrial Park, Huazhong University of Science and Technology science and Technology Park, East Lake hi tech Development Zone, Wuhan, Hubei Patentee before: WUHAN FARLEY LASERLAB CUTTING SYSTEM ENGINEERING CO.,LTD. Patentee before: Huazhong University of Science and Technology |
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