CN104440892A - Automatic sample loading mechanical arm for three-dimensional space of tensile testing machine - Google Patents
Automatic sample loading mechanical arm for three-dimensional space of tensile testing machine Download PDFInfo
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- CN104440892A CN104440892A CN201310431796.1A CN201310431796A CN104440892A CN 104440892 A CN104440892 A CN 104440892A CN 201310431796 A CN201310431796 A CN 201310431796A CN 104440892 A CN104440892 A CN 104440892A
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Abstract
The invention discloses an automatic sample loading mechanical arm for a three-dimensional space of a tensile testing machine. A transverse moving electric cylinder of the mechanical arm is arranged on a transverse supporting plate, a vertical supporting plate is perpendicularly arranged on a sliding block of the transverse moving electric cylinder, and a lifting electric cylinder and a lifting guide rail are arranged on the vertical supporting plate. A lifting supporting plate is arranged on the lifting guide rail and moves along the lifting guide rail. A telescopic air cylinder is arranged on the side face of the lifting supporting plate, an installation plate is arranged on the end face of the telescopic air cylinder, and a rotating air cylinder and a clamping air cylinder are arranged on the front end face and the rear end face of the installation plate respectively. A clamping frame is arranged at the front end of the clamping air cylinder, two clamping arms of a clamp are hinged to the front end of the clamping frame, a pull rod is arranged in the clamping frame and is hinged to the rear ends of the two clamping arms, the clamping air cylinder drives the pull rod to move back and forth, and the rotating air cylinder drives the clamping air cylinder and the clamping frame to rotate. The mechanical arm is suitable for the whole process of a sample test of the tensile testing machine, manual operation is not needed in sample sending of the tensile testing machine, the sample sending accuracy is effectively improved, and the repeated accuracy of the sample test is ensured.
Description
Technical field
The present invention relates to a kind of cupping machine three dimensions and automatically fill sample manipulator.
Background technology
Cupping machine be mainly used in metal and nonmetallic materials stretching, compression, bend, shear, peel off, tear, the multiple test such as 2 extensions, the sample presentation of general cupping machine adopts manual hand manipulation, namely manually to take sample, then the upper lower chuck putting into testing machine carries out neutralization alignment, the operations such as whether manual observation clip position is suitable, manually carry out judging whether sample clamps deflection.But sample presentation easily causes sample holder deflection manually, the repeatable accuracy of specimen test cannot ensure, has a strong impact on the test mass of sample, simultaneously high to the requirement of operating personnel, reduces the efficiency of specimen test.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of cupping machine three dimensions and automatically fills sample manipulator, this manipulator is applicable to the overall process of cupping machine specimen test, cupping machine sample presentation is without the need to manual hand manipulation, effectively improve the accuracy of sample presentation, ensure that the repeatable accuracy of specimen test.
For solving the problems of the technologies described above, cupping machine three dimensions of the present invention automatically fills model machine tool hand and comprises horizontal supporting plate, vertical supporting plate, riser guide, traversing electric cylinder, be elevated electric cylinder, telescopic cylinder, lifting supporting plate, installing plate, rotary cylinder, clamping cylinder, gripper frame, pull bar and clamp, described traversing electric cylinder is located on described horizontal supporting plate, drive on the slide block that described vertical supporting plate is vertical at described traversing electric cylinder and by traversing electric cylinder and move as transverse horizontal, the electric cylinder of described lifting and riser guide are located on described vertical supporting plate respectively, described lifting supporting plate is located at described riser guide and is driven by the electric cylinder of described lifting and moves along riser guide, described telescopic cylinder is located at described lifting pallet side, described installing plate is located at described telescopic cylinder end face, described rotary cylinder and clamping cylinder are located at the front/rear end of described installing plate respectively, described gripper frame is located at described clamping cylinder front end, two clamping limbs of described clamp are articulated with described gripper frame front end, in described gripper frame and two clamping limb rear ends of hinged described clamp are located at by described pull bar, described clamping cylinder drives described pull bar to move forward and backward, described rotary cylinder drives described clamping cylinder and gripper frame to rotate.
Technique scheme is have employed because cupping machine three dimensions of the present invention fills model machine tool hand automatically, namely the traversing electric cylinder of this manipulator is located on horizontal supporting plate, vertical supporting plate is vertical on traversing electric cylinder slide block, be elevated electric cylinder and riser guide is located at vertical supporting plate, lifting supporting plate is located at riser guide and moves along riser guide, telescopic cylinder is located at lifting pallet side, installing plate is located at telescopic cylinder end face, rotary cylinder and clamping cylinder are located at the front/rear end of installing plate respectively, gripper frame is located at clamping cylinder front end, two clamping limbs of clamp are articulated with gripper frame front end, in gripper frame and two clamping limb rear ends of hinged clamp are located at by pull bar, clamping cylinder drives pull bar to move forward and backward, rotary cylinder drives clamping cylinder and gripper frame to rotate.This manipulator is applicable to the overall process of cupping machine specimen test, and cupping machine sample presentation, without the need to manual hand manipulation, effectively improves the accuracy of sample presentation, ensure that the repeatable accuracy of specimen test.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, the present invention is described in further detail:
Fig. 1 is the structural representation that cupping machine three dimensions of the present invention fills sample manipulator automatically;
Fig. 2 is the enlarged drawing in A portion in Fig. 1.
Detailed description of the invention
As depicted in figs. 1 and 2, cupping machine three dimensions of the present invention automatically fills model machine tool hand and comprises horizontal supporting plate 1, vertical supporting plate 3, riser guide 4, traversing electric cylinder 2, be elevated electric cylinder 5, telescopic cylinder 6, lifting supporting plate 7, installing plate 8, rotary cylinder 9, clamping cylinder 10, gripper frame 11, pull bar 13 and clamp 13, described traversing electric cylinder 2 is located on described horizontal supporting plate 1, drive on the slide block that described vertical supporting plate 3 is vertical at described traversing electric cylinder 2 and by traversing electric cylinder 2 and move as transverse horizontal, the electric cylinder of described lifting 5 and riser guide 4 are located on described vertical supporting plate 3 respectively, described lifting supporting plate 7 is located at described riser guide 4 and is driven by the electric cylinder 5 of described lifting and moves along riser guide 4, described telescopic cylinder 6 is located at described lifting supporting plate 7 side, described installing plate 8 is located at described telescopic cylinder 6 end face, described rotary cylinder 9 and clamping cylinder 10 are located at the front/rear end of described installing plate 8 respectively, described gripper frame 11 is located at described clamping cylinder 10 front end, two clamping limbs of described clamp 13 are articulated with described gripper frame 11 front end, in described gripper frame 11 and two clamping limb rear ends of hinged described clamp 13 are located at by described pull bar 12, described clamping cylinder 10 drives described pull bar 12 to move forward and backward, described rotary cylinder 9 drives described clamping cylinder 10 and gripper frame 11 to rotate.
In this manipulator, horizontal supporting plate 1 is located on the crossbeam 15 of tension test pusher side, vertical supporting plate 3 drives transversely supporting plate 1 to move horizontally by traversing electric cylinder 2, being elevated electric cylinder 5 drives lifting supporting plate 7 and telescopic cylinder 6 riser guide 4 vertically on supporting plate 3 to be elevated, rotary cylinder 9 drives clamping cylinder 10 and gripper frame 11 to rotate, clamping cylinder 10 drives pull bar 12 to move forward and backward, pull bar 12 drives two clamping limbs of clamp 13 with the pin joint opening and closing with gripper frame 11, telescopic cylinder 6 is by installing plate 8 driven rotary cylinder, clamping cylinder, gripper frame does elastic movement, sample 14 is by two gripping arm of clamp 13, sample 14 is realized in three-dimensional movement by the driving of each electric cylinder and cylinder, thus realize the flexible sample presentation of sample 14 at cupping machine.
In the application of this manipulator, first at six surface servo layer frame dress sample presentation system gripping samples of cupping machine, then sample is delivered to specimen width centering station, after width centering system carries out centering by force to sample, by this manipulator, sample is sent into sample center support system sample double sections automatic measurement system again to measure sample double sections, then by manipulator by arranging measurement requirement, clamping sample carries out three displacement measurements simultaneously, and spinning sample rotary angle of 90 DEG, finally carry out tension test.This Robot actions is simple, is applicable to the extensive square-section tension test of iron and steel enterprise's mechanical-testing hall, can do multistation carrying mobile, have accurate positioning, the feature that reliability is high during specimen test.
The operating efficiency that this machinery is portable rises testing machine and operating efficiency, operating efficiency >=20/hour during sample normal assays, and operating efficiency≤16 of traditional experiment machine/hour; Reduce cupping machine master manipulator fault rate, during normal operation, master manipulator due to portal frame before testing machine does not participate in unloading sample action after off-test, disconnected sample after off-test can separately by this manipulator complete independently, thus significantly reduce the homework burden of master manipulator, master manipulator failure risk obviously declines, and can extend master manipulator service life; This manipulator is safe and reliable, and its running orbit is simple, and the equipment damage that when effectively can avoid manipulator gripping sample, misoperation brings, guarantees safe and reliable to operation; Simultaneously this manipulator and master manipulator possess when unloading sample and facilitate handoff functionality, when this manipulator breaks down, the function of master manipulator alternative manipulator, realize fully automatic working, when master manipulator breaks down stoppage in transit, this manipulator still according to the collection of test automatic information, can be carried out in accordance with regulations the differentiation of fine or not sample and is placed in different waste sample baskets, not needing manual intervention.
This robot manipulator structure is simple, easy to use, and sample can be made to move at three dimensions, reaches requirement that is efficient to sample and registration, and for follow-up each station institution where he works, everything goes well with your work provides safeguard.
Claims (1)
1. a cupping machine three dimensions fills sample manipulator automatically, it is characterized in that: this mechanical hand comprises horizontal supporting plate, vertical supporting plate, riser guide, traversing electric cylinder, be elevated electric cylinder, telescopic cylinder, lifting supporting plate, installing plate, rotary cylinder, clamping cylinder, gripper frame, pull bar and clamp, described traversing electric cylinder is located on described horizontal supporting plate, drive on the slide block that described vertical supporting plate is vertical at described traversing electric cylinder and by traversing electric cylinder and move as transverse horizontal, the electric cylinder of described lifting and riser guide are located on described vertical supporting plate respectively, described lifting supporting plate is located at described riser guide and is driven by the electric cylinder of described lifting and moves along riser guide, described telescopic cylinder is located at described lifting pallet side, described installing plate is located at described telescopic cylinder end face, described rotary cylinder and clamping cylinder are located at the front/rear end of described installing plate respectively, described gripper frame is located at described clamping cylinder front end, two clamping limbs of described clamp are articulated with described gripper frame front end, in described gripper frame and two clamping limb rear ends of hinged described clamp are located at by described pull bar, described clamping cylinder drives described pull bar to move forward and backward, described rotary cylinder drives described clamping cylinder and gripper frame to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310431796.1A CN104440892A (en) | 2013-09-22 | 2013-09-22 | Automatic sample loading mechanical arm for three-dimensional space of tensile testing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310431796.1A CN104440892A (en) | 2013-09-22 | 2013-09-22 | Automatic sample loading mechanical arm for three-dimensional space of tensile testing machine |
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| CN104440892A true CN104440892A (en) | 2015-03-25 |
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| CN201310431796.1A Pending CN104440892A (en) | 2013-09-22 | 2013-09-22 | Automatic sample loading mechanical arm for three-dimensional space of tensile testing machine |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105571937A (en) * | 2015-12-28 | 2016-05-11 | 上海宝钢工业技术服务有限公司 | Automatic sample unloading mechanical hand device for tensile test machine |
| CN105583813A (en) * | 2016-02-01 | 2016-05-18 | 宁波朝平智能科技有限公司 | Archive rotary grabbing mechanism |
| CN106181976A (en) * | 2016-07-26 | 2016-12-07 | 温州职业技术学院 | Lamp socket three inserted sheet automatic catching robot system |
| CN106180499A (en) * | 2016-08-30 | 2016-12-07 | 安徽省巢湖铸造厂有限责任公司 | Bar captures conveyer device |
| CN107130804A (en) * | 2017-06-01 | 2017-09-05 | 浙江省二建钢结构有限公司 | The servicing unit and installation method of main couple are installed during construction truss-like roof |
| CN107282824A (en) * | 2017-06-19 | 2017-10-24 | 合肥太通制冷科技有限公司 | A kind of automatic Pai Si mechanisms of wire-tube evaporator |
| CN107413974A (en) * | 2017-06-19 | 2017-12-01 | 合肥太通制冷科技有限公司 | A kind of robot device of bending machine |
| CN107891418A (en) * | 2017-12-25 | 2018-04-10 | 无锡特恒科技有限公司 | Rotation group turns around mechanical arm |
| CN108303313A (en) * | 2017-01-11 | 2018-07-20 | 鸿准精密模具（昆山）有限公司 | Automatic detection device |
| CN108907717A (en) * | 2018-08-21 | 2018-11-30 | 苏州韦尔迪机电自动化有限公司 | Front cover plate for precision component welding center surveys pressure transplanting machine hand |
| CN109051772A (en) * | 2018-07-12 | 2018-12-21 | 深圳智慧者机器人科技有限公司 | Copper sheet feeding and conveying device |
| CN109317574A (en) * | 2018-10-09 | 2019-02-12 | 合肥合锻智能制造股份有限公司 | A kind of automatic loading and unloading mechanism of cold conditions axial vibration shaping hydraulic machine |
| CN109883142A (en) * | 2018-09-21 | 2019-06-14 | 深圳市鹰慧科技有限公司 | Horizontal baking system for soft-package battery |
| CN110525856A (en) * | 2019-08-23 | 2019-12-03 | 南安市商宏机械科技有限公司 | Automatic clamping and placing goods mechanical hand in a kind of storage warehouse |
| CN111108364A (en) * | 2017-07-31 | 2020-05-05 | 陶氏环球技术有限责任公司 | Apparatus for tear analysis of a film |
| CN111573184A (en) * | 2020-05-28 | 2020-08-25 | 湖南工业职业技术学院 | Loading and unloading conveyor |
| CN111829871A (en) * | 2020-08-06 | 2020-10-27 | 东方蓝天钛金科技有限公司 | Automatic sample changing device and method for mechanical detection equipment |
| CN113494986A (en) * | 2020-03-18 | 2021-10-12 | 富泰华工业（深圳）有限公司 | Drop test machine |
| CN113860151A (en) * | 2021-10-19 | 2021-12-31 | 国网河南省电力公司新安县供电公司 | Electric pole hoisting device for electric power construction |
| CN114986108A (en) * | 2022-04-21 | 2022-09-02 | 安徽科达机电股份有限公司 | Evaporate foster bottom plate bracing piece dismouting equipment |
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| CN102778393A (en) * | 2012-06-06 | 2012-11-14 | 美特斯工业系统（中国）有限公司 | Full-automatic tension testing machine |
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| JPS57127829A (en) * | 1981-01-30 | 1982-08-09 | Shimadzu Corp | Apparatus for inserting core bar |
| CN202208024U (en) * | 2011-07-27 | 2012-05-02 | 东莞市均利自动化科技有限公司 | Full-automatic stretching mechanical arm |
| CN202668223U (en) * | 2012-05-17 | 2013-01-16 | 马丁路德机器人（上海）有限公司 | Three-axis type gantry robot |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105571937A (en) * | 2015-12-28 | 2016-05-11 | 上海宝钢工业技术服务有限公司 | Automatic sample unloading mechanical hand device for tensile test machine |
| CN105583813A (en) * | 2016-02-01 | 2016-05-18 | 宁波朝平智能科技有限公司 | Archive rotary grabbing mechanism |
| CN106181976A (en) * | 2016-07-26 | 2016-12-07 | 温州职业技术学院 | Lamp socket three inserted sheet automatic catching robot system |
| CN106181976B (en) * | 2016-07-26 | 2019-02-15 | 温州职业技术学院 | Three inserted sheet automatic catching robot system of lamp holder |
| CN106180499A (en) * | 2016-08-30 | 2016-12-07 | 安徽省巢湖铸造厂有限责任公司 | Bar captures conveyer device |
| CN108303313A (en) * | 2017-01-11 | 2018-07-20 | 鸿准精密模具（昆山）有限公司 | Automatic detection device |
| CN108303313B (en) * | 2017-01-11 | 2020-05-26 | 鸿准精密模具（昆山）有限公司 | Automatic detection device |
| CN107130804A (en) * | 2017-06-01 | 2017-09-05 | 浙江省二建钢结构有限公司 | The servicing unit and installation method of main couple are installed during construction truss-like roof |
| CN107413974A (en) * | 2017-06-19 | 2017-12-01 | 合肥太通制冷科技有限公司 | A kind of robot device of bending machine |
| CN107282824A (en) * | 2017-06-19 | 2017-10-24 | 合肥太通制冷科技有限公司 | A kind of automatic Pai Si mechanisms of wire-tube evaporator |
| CN111108364A (en) * | 2017-07-31 | 2020-05-05 | 陶氏环球技术有限责任公司 | Apparatus for tear analysis of a film |
| CN107891418A (en) * | 2017-12-25 | 2018-04-10 | 无锡特恒科技有限公司 | Rotation group turns around mechanical arm |
| CN109051772A (en) * | 2018-07-12 | 2018-12-21 | 深圳智慧者机器人科技有限公司 | Copper sheet feeding and conveying device |
| CN108907717A (en) * | 2018-08-21 | 2018-11-30 | 苏州韦尔迪机电自动化有限公司 | Front cover plate for precision component welding center surveys pressure transplanting machine hand |
| CN109883142A (en) * | 2018-09-21 | 2019-06-14 | 深圳市鹰慧科技有限公司 | Horizontal baking system for soft-package battery |
| CN109317574B (en) * | 2018-10-09 | 2020-02-11 | 合肥合锻智能制造股份有限公司 | Automatic feeding and discharging mechanism of cold-state axial vibration forming hydraulic machine |
| CN109317574A (en) * | 2018-10-09 | 2019-02-12 | 合肥合锻智能制造股份有限公司 | A kind of automatic loading and unloading mechanism of cold conditions axial vibration shaping hydraulic machine |
| CN110525856A (en) * | 2019-08-23 | 2019-12-03 | 南安市商宏机械科技有限公司 | Automatic clamping and placing goods mechanical hand in a kind of storage warehouse |
| CN113494986A (en) * | 2020-03-18 | 2021-10-12 | 富泰华工业（深圳）有限公司 | Drop test machine |
| CN111573184A (en) * | 2020-05-28 | 2020-08-25 | 湖南工业职业技术学院 | Loading and unloading conveyor |
| CN111573184B (en) * | 2020-05-28 | 2021-06-04 | 湖南工业职业技术学院 | Loading and unloading conveyor |
| CN111829871A (en) * | 2020-08-06 | 2020-10-27 | 东方蓝天钛金科技有限公司 | Automatic sample changing device and method for mechanical detection equipment |
| CN113860151A (en) * | 2021-10-19 | 2021-12-31 | 国网河南省电力公司新安县供电公司 | Electric pole hoisting device for electric power construction |
| CN114986108A (en) * | 2022-04-21 | 2022-09-02 | 安徽科达机电股份有限公司 | Evaporate foster bottom plate bracing piece dismouting equipment |
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