CN103962757A - Mechanical hand for assisting steel structure component production - Google Patents
Mechanical hand for assisting steel structure component production Download PDFInfo
- Publication number
- CN103962757A CN103962757A CN201310027871.8A CN201310027871A CN103962757A CN 103962757 A CN103962757 A CN 103962757A CN 201310027871 A CN201310027871 A CN 201310027871A CN 103962757 A CN103962757 A CN 103962757A
- Authority
- CN
- China
- Prior art keywords
- adjusting rod
- rocking arm
- connecting rod
- jaw
- arm
- 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.)
- Pending
Links
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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to mechanical equipment, in particular to a mechanical hand for assisting in an H-type steel production process. In the mechanical hand, a base is used for fixing a big rocking arm; one end of the big rocking arm is rotationally connected onto the base; one end of a small rocking arm is in rotational connection with the other end of the big rocking arm; one end of a grabbing arm is in rotational connection with the other end of the small rocking arm; a ratchet pawl A and a ratchet pawl B are arranged in a face to face manner; one end of the ratchet pawl A is in rotational connection with the other end of the grabbing arm; one end of the ratchet pawl B is in rotational connection with the other end of the grabbing arm; the mechanical hand is provided with a connecting rod A and a connecting rod B; after the connecting rod A is rotationally connected with one end of the connecting rod B, the connecting rod A is in rotational connection with one end of a hydraulic rod; the other end of the connecting rod A and the other end of the connecting rod B are rotationally connected with the other end of the ratchet pawl A and the other end of the ratchet pawl B respectively; the other end of the hydraulic rod is fixedly connected onto the grabbing arm. The mechanical hand provided by the invention has advantages of simple structure and easiness in operation, can effectively reduce the labor intensity and improve the production efficiency.
Description
Technical field
The present invention relates to plant equipment, especially a kind of manipulator of supplement production in H shaped steel processing process.
Background technology
When steel construction piece wing plate and the vertical position welding of web group connect now, all use driving lifting wing plate and web, upset group is also to use driving to assist immediately, thereby unproductive time in the process of producing is longer, and production efficiency is low, and secondly working strength is large, and the amount of labour used is large.
Summary of the invention
Goal of the invention of the present invention is to provide one, reduces labour intensity, and the manipulator of the supplement production steel construction piece of production efficiency is provided.
Goal of the invention of the present invention is achieved in that
The manipulator of supplement production steel construction piece, comprising: base, and described base is for fixing large rocking arm; Large rocking arm, described large rocking arm one end be rotationally connected with described base on, described large rocking arm is rotatable with respect to described base; Small rocker, described small rocker one end and the described large rocking arm other end are rotationally connected, and described small rocker is rotatable with respect to described large rocking arm; Gripping arm, described gripping arm one end and the described small rocker other end are rotationally connected, and described gripping arm is rotatable with respect to described small rocker; Face mutually the ratchet first and the ratchet second that arrange for two, the other end of described ratchet first one end and described gripping arm is rotationally connected; The other end of described ratchet second one end and described gripping arm is rotationally connected; Two connecting rods, described two connecting rods are connecting rod first and connecting rod second, after one end of described connecting rod first and described connecting rod second is rotationally connected, be rotationally connected with one end of hydraulic stem, the other end of described connecting rod first, the other end of described connecting rod second are rotationally connected with the other end of described two ratchets respectively again; The other end of described hydraulic stem is fixed in described gripping arm.
Further, in order better to control and regulate the angle and direction of ratchet, the present invention also comprises adjusting rod first; Described adjusting rod first one end is fixed in described gripping arm, and the described adjusting rod first other end is fixed on described small rocker, adjusts the mutual rotational angle between described small rocker and described gripping arm by described adjusting rod first.Also comprise adjusting rod second, described adjusting rod second one end be connected with large rocking arm on, the other end of described adjusting rod second is fixed on small rocker, adjusts the mutual rotational angle between described small rocker and described large rocking arm by described adjusting rod second.Also comprise adjusting rod the third, described adjusting rod third one end be connected with base on, the other end of described adjusting rod third is fixed on large rocking arm.
Further, also comprise adjusting rod second, described adjusting rod second one end be connected with large rocking arm on, the other end of described adjusting rod second is fixed on small rocker, adjusts the mutual rotational angle between described small rocker and described large rocking arm by described adjusting rod second.
Further, also comprise adjusting rod the third, described adjusting rod third one end be connected with base on, the other end of described adjusting rod third is fixed on large rocking arm.
Further, described ratchet first is provided with jaw A and jaw B, and ratchet second is provided with jaw A ' and jaw B ', and wherein jaw A and jaw A ' are oppositely arranged, and jaw B and jaw B ' are oppositely arranged.
Wherein said adjusting rod first, adjusting rod second and adjusting rod third are hydraulic regulation bar.
It is simple in structure, easy to operate that the present invention has, and can effectively reduce labour intensity, the advantage of enhancing productivity.
Brief description of the drawings
Fig. 1 is invention structural representation.
Fig. 2 is invention structure partial schematic diagram.
1 base,
2 large rocking arms,
3 small rockers,
4 gripping arms,
51 adjusting rod first, 52 adjusting rod second, 53 adjusting rod the third, 54 hydraulic stems,
61 connecting rod first, 62 connecting rod second,
71 ratchet first, 72 ratchet second,
A jaw, A ' jaw, B jaw, B ' jaw.
Detailed description of the invention
This case can be fully understood by following embodiment explanation, make the personage who has the knack of this skill to complete according to this it, and so the enforcement of this case not can be limited by following case study on implementation it and implement kenel.
Manipulator for the supplement production steel construction piece of H shaped steel:
Base 1 is bolted on ground.The large rocking arm 2 of long 1300mm, its one end is rotatably fixed on base 1 by bearing pin; The large relative base 1 of rocking arm 2 is rotatable; Between large rocking arm 2 and base 1, connect by connecting rod the third 53, connecting rod the third 53 one end are fixed on base 1, the other end of connecting rod the third 53 is fixed on large rocking arm 2, and wherein connecting rod the third 53 is hydraulic stem, by regulating connecting rod the third 53 can change the angle between large rocking arm 2 and base 1.
Large rocking arm 2 other ends are rotationally connected by one end of bearing pin and small rocker 3; Rotatable between large rocking arm 2 and small rocker 3.Between large rocking arm 2 and small rocker 3, connect by connecting rod second 52, connecting rod second 52 one end are fixed on large rocking arm 2, connecting rod second 52 other ends are fixed on small rocker 3, and wherein connecting rod second 52 is hydraulic stem, by the angle that regulates connecting rod second 52 can change between large rocking arm 2 and small rocker 3.The wherein long 1650mm of small rocker 3.
Gripping arm 4 one end and small rocker 3 other ends are rotationally connected by bearing pin, between gripping arm 4 and small rocker 3, be connected by connecting rod first 51, connecting rod first 51 one end are fixed in gripping arm 4, connecting rod first 51 other ends are fixed on small rocker 3, wherein connecting rod first 51 is hydraulic stem, by the angle that regulates connecting rod first 51 can change between gripping arm 4 and small rocker 3.Gripping arm 4 can relatively rotate with small rocker 3; The wherein long 250mm of gripping arm 4.
Ratchet first 71 is faced and is arranged mutually with ratchet second 72, one end of ratchet first 71 is rotationally connected with one end of gripping arm 4 by bearing pin, one end of ratchet second 72 is rotationally connected with one end of gripping arm 4 by bearing pin, gripping arm 4 motions can drive ratchet first 71 and ratchet second 72 to move simultaneously.The long 400mm of ratchet first 71, the long 400mm of ratchet second 72.
After being rotationally connected by bearing pin, connecting rod 61 and connecting rod 62 one end are rotatably connected with hydraulic stem 54 one end again; The other end of connecting rod 61 be rotatably connected with ratchet first 71 on, the other end of connecting rod 62 be rotatably connected with ratchet second 72 on; The other end of hydraulic stem 54 is connected in gripping arm 4.
Wherein jaw A and jaw are oppositely arranged, and the jaw of A A ' formation is used for capturing wing plate, the minimum 160mm that captures of jaw of A A ' formation, and maximum can capture 550mm.And jaw B and jaw B ' are oppositely arranged, the jaw of B B ' formation is used for capturing web.The jaw of B B ' formation can capture the web of 1-25mm thickness.
When use, connect external reversal valve, overflow valve and hydraulic oil pump to hydraulic stem 54, adjusting rod 51, adjusting rod 52, adjusting rod 53, realize the opening and closing of ratchet first 71 and ratchet second 72 by regulator solution depression bar 54, adjusting rod 51, adjusting rod 52, adjusting rod 53.
Wherein, the bearing pressure of hydraulic stem 54 is 9 tons, and the bearing pressure of adjusting rod 51 is 15 tons, and the bearing pressure of adjusting rod 52 is 15 tons, and the bearing pressure of adjusting rod 51 is 10 tons.
Though the present invention discloses as above with preferred embodiment, so it is not in order to limit scope of the present invention, anyly has the knack of this skill person, without departing from the spirit and scope of the invention, and when doing a little change and retouching.
Claims (7)
1. the manipulator of supplement production steel construction piece, is characterized in that: comprising:
Base, described base is for fixing large rocking arm;
Large rocking arm, described large rocking arm one end is rotationally connected with on described base, and described large rocking arm is rotatable with respect to described base;
Small rocker, described small rocker one end and the described large rocking arm other end are rotationally connected, and described small rocker is rotatable with respect to described large rocking arm;
Gripping arm, described gripping arm one end and the described small rocker other end are rotationally connected, and described gripping arm is rotatable with respect to described small rocker;
Face mutually the ratchet first and the ratchet second that arrange for two, the other end of described ratchet first one end and described gripping arm is rotationally connected; The other end of described ratchet second one end and described gripping arm is rotationally connected;
Two connecting rods, described two connecting rods are connecting rod first and connecting rod second, after one end of described connecting rod first and described connecting rod second is rotationally connected, be rotationally connected with one end of hydraulic stem, the other end of described connecting rod first, the other end of described connecting rod second are rotationally connected with the other end of described two ratchets respectively again;
The other end of described hydraulic stem is fixed in described gripping arm.
2. the manipulator of supplement production steel construction piece according to claim 1, is characterized in that: also comprise adjusting rod first; Described adjusting rod first one end is fixed in described gripping arm, and the described adjusting rod first other end is fixed on described small rocker, adjusts the mutual rotational angle between described small rocker and described gripping arm by described adjusting rod first.
3. the manipulator of supplement production steel construction piece according to claim 2, it is characterized in that: also comprise adjusting rod second, described adjusting rod second one end be connected with large rocking arm on, the other end of described adjusting rod second is fixed on small rocker, adjusts the mutual rotational angle between described small rocker and described large rocking arm by described adjusting rod second.
4. the manipulator of supplement production steel construction piece according to claim 3, is characterized in that: also comprise adjusting rod the third, described adjusting rod third one end be connected with base on, the other end of described adjusting rod third is fixed on large rocking arm.
5. the manipulator of supplement production steel construction piece according to claim 1, it is characterized in that: also comprise adjusting rod second, described adjusting rod second one end be connected with large rocking arm on, the other end of described adjusting rod second is fixed on small rocker, adjusts the mutual rotational angle between described small rocker and described large rocking arm by described adjusting rod second.
6. the manipulator of supplement production steel construction piece according to claim 1, is characterized in that: also comprise adjusting rod the third, described adjusting rod third one end be connected with base on, the other end of described adjusting rod third is fixed on large rocking arm.
7. according to the manipulator of supplement production steel construction piece described in claim 1 to 6 any one, it is characterized in that: described ratchet first is provided with jaw A and jaw B, ratchet second is provided with jaw A ' and jaw B ', and wherein jaw A and jaw A ' are oppositely arranged, and jaw B and jaw B ' are oppositely arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310027871.8A CN103962757A (en) | 2013-01-24 | 2013-01-24 | Mechanical hand for assisting steel structure component production |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310027871.8A CN103962757A (en) | 2013-01-24 | 2013-01-24 | Mechanical hand for assisting steel structure component production |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103962757A true CN103962757A (en) | 2014-08-06 |
Family
ID=51233019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310027871.8A Pending CN103962757A (en) | 2013-01-24 | 2013-01-24 | Mechanical hand for assisting steel structure component production |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103962757A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104607832A (en) * | 2014-12-15 | 2015-05-13 | 广西科技大学 | Method for controlling mechanical arm to perform automatic welding |
| CN105128005A (en) * | 2015-08-03 | 2015-12-09 | 宁波莱盟机器人有限公司 | Hydraulic manipulator |
| CN108827805A (en) * | 2018-04-18 | 2018-11-16 | 依波精品（深圳）有限公司 | hardness test auxiliary device |
| CN110823891A (en) * | 2019-11-13 | 2020-02-21 | 河北工程大学 | Digital holographic microscopic imaging equipment for cultural relic identification |
-
2013
- 2013-01-24 CN CN201310027871.8A patent/CN103962757A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104607832A (en) * | 2014-12-15 | 2015-05-13 | 广西科技大学 | Method for controlling mechanical arm to perform automatic welding |
| CN105128005A (en) * | 2015-08-03 | 2015-12-09 | 宁波莱盟机器人有限公司 | Hydraulic manipulator |
| CN108827805A (en) * | 2018-04-18 | 2018-11-16 | 依波精品（深圳）有限公司 | hardness test auxiliary device |
| CN110823891A (en) * | 2019-11-13 | 2020-02-21 | 河北工程大学 | Digital holographic microscopic imaging equipment for cultural relic identification |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20140806 |