CN106424514A - Hot extruding and upsetting feeding manipulator - Google Patents
Hot extruding and upsetting feeding manipulator Download PDFInfo
- Publication number
- CN106424514A CN106424514A CN201611010607.3A CN201611010607A CN106424514A CN 106424514 A CN106424514 A CN 106424514A CN 201611010607 A CN201611010607 A CN 201611010607A CN 106424514 A CN106424514 A CN 106424514A
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- CN
- China
- Prior art keywords
- gear
- mechanical hand
- incomplete
- roller
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Transmission Devices (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a hot extruding and upsetting feeding manipulator. The hot extruding and upsetting feeding manipulator comprises a driving device, an arm swinging mechanism and an arm slewing mechanism, wherein the driving device is a motor and provides power for movement of the arm swinging mechanism and movement of the arm slewing mechanism; the arm slewing mechanism comprises an incomplete gear mechanism, a cylindrical gear mechanism and a manipulator body; the manipulator body and the incomplete gear mechanism transmit movement through a coupler; the incomplete gear mechanism is engaged with the cylindrical gear mechanism and drives the manipulator body to carry out intermittent slewing movement; and the arm swinging mechanism is mounted on the manipulator body and swings vertically relative to the manipulator body. By a cam and a rocking bar mechanism, intermittent vertical swinging of a mechanical arm is realized, and by the incomplete gear mechanism and the cylindrical gear mechanism, intermittent slewing movement of the manipulator body is realized. The hot extruding and upsetting feeding manipulator is simple in structure, easy to implement, small in occupied space, low in cost and good in stability, can continuously work for a long time and is high in efficiency.
Description
Technical field
The present invention relates to a kind of hot upsetting squeeze feeding mechanical hand, belong to mechanical hand technical field.
Background technology
Mechanical hand can imitate some holding functions of staff and arm, is in order to capture, to carry object or behaviour by fixed routine
Make the automatic pilot of instrument.Mechanical hand is the earliest industrial robot occurring, and is also the earliest modern machines people occurring, it
The heavy labor that people can be replaced, to realize the mechanization and the automatization that produce, can operate to protect person peace under hostile environment
Entirely.At present, a lot of feeding mechanical hands are bulky on the market, and complex structure is relatively costly, can not meet the need of medium-sized and small enterprises
Ask.
Content of the invention
The technical problem to be solved of the present invention is：Overcome the deficiencies in the prior art, a kind of hot upsetting squeeze feeder is provided
Tool handss, its structure is simple, low cost, good stability.
In order to solve above-mentioned technical problem, the technical scheme is that：A kind of hot upsetting squeeze feeding mechanical hand, including driving
Device, arms swing mechanism and arm slew gear；Described driving means are motor, and it is arms swing mechanism and arm returns
The motion of rotation mechanism provides power；Described arm slew gear includes incomplete gear mechanism, cylindrical gear mechanism and mechanical hand
Body, mechanical hand body and incomplete gear mechanism pass through shaft coupling transmitting movement, incomplete gear mechanism and Cylinder Gear turbine
Structure is meshed, and driving mechanical mobile phone body makees intermittent-rotation motion；Described arms swing mechanism is arranged on mechanical hand body, phase
Mechanical hand body is swung up and down.
Further provide for the drive mechanism of a kind of incomplete gear mechanism and cylindrical gear mechanism, described partial gear machine
Structure includes incomplete internal gear and incomplete external gear, and described cylindrical gear mechanism includes matching with incomplete internal gear
One roller gear and the second roller gear matching with incomplete external gear, when incomplete internal gear is nibbled with the first roller gear
When conjunction, incomplete external gear are not engaged with the second roller gear, mechanical hand body rotates forward；When incomplete internal gear and first
When roller gear does not engage, incomplete external gear is engaged with the second roller gear, mechanical hand body reversed turning.
Further, the toothed portion of described incomplete internal gear is divided and is occupied 120 degree, and the toothed portion of described incomplete external gear is divided
Occupy 240 degree.
Do not affect the swing of arms swing mechanism, described arms swing mechanism further for the rotation making mechanical hand body
Constitute rocking bar machine including cam with leveling molecular cam mechanism, connecting rod, slide block, rocking bar and support, support, rocking bar and slide block with a roller
Structure, one end of connecting rod is connected on roller, and the other end is connected on slide block, and on rocking bar, one end of rocking bar is hinged on slide block set
On support；Described mechanical hand body includes intermeshing first conical gear and the second conical gear, described cam and first
Bevel pinion shaft connects, and drives cam rotation, and roller drivening rod moves up and down with the rotation of cam, thus realizing machinery
The swinging up and down of handss, the rotation of mechanical hand body does not affect the swing of arms swing mechanism.
Further, described rocking bar swings up and down 15 degree.
It is converted into vertical rotary motion further for by horizontal revolving motion, the output shaft of described motor passes through one and carries
Wheel combination is connected with the 3rd bevel pinion shaft, and the 3rd conical gear is meshed with the 4th conical gear, thus horizontal rotation is transported
Move and be converted into vertical rotary motion.
Further, described belt wheel combination includes a small pulley and a big belt wheel, the output shaft of small pulley and motor
Connect, big small pulley passes through belt transmission.
After employing technique scheme, the invention has the advantages that：
1) present invention relies on cam and endplay device to swing up and down the interval to realize mechanical arm, relies on partial gear
The intermittent-rotation that mechanism to realize mechanical hand body with cylindrical gear mechanism moves, and structure is simple, it is easy to accomplish, take up room
Little, low cost, good stability, can non-stop run for a long time, efficiency high；
2) present invention provides power source by motor, by a belt wheel combination and the 3rd conical gear, the 4th conical gear,
Horizontal revolving motion is converted into vertical rotary motion, provides power for incomplete gear mechanism；
3) cam mechanism of the present invention is located at the inside of mechanical hand body, and the rotation of mechanical hand body does not affect mechanical arm
Swing；
4) pass through to change the continuous number of teeth of incomplete external gear and the drivewheel of incomplete internal gear, that is, shared by toothed portion
According to angle, to change the anglec of rotation of mechanical hand body；Mechanical arm is realized by the contour curve of change cam upper and lower
The angle swinging, thus realize designated movement.
Brief description
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structural representation of the arms swing mechanism of the present invention；
Fig. 3 is the structural representation of the arm slew gear of the present invention；
Fig. 4 is the incomplete internal gear of the present invention and the mesh schematic representation of the first roller gear；
Fig. 5 is the incomplete external gear of the present invention and the mesh schematic representation of the second roller gear；
In figure, 1, motor, 2, small pulley, 3, belt, the 4, the 3rd conical gear, the 5, the 4th conical gear, the 6, first circle
Stud wheel, the 7, second roller gear, 9, cam, 10, roller, 11, connecting rod, 12, rocking bar, 13, slide block, 14, support, 15, first
Conical gear, the 16, second conical gear, 17, mechanical hand body, 19, shaft coupling, 20, incomplete external gear, 21, not exclusively interior
Gear, 22, big belt wheel, 23, incomplete gear mechanism.
Specific embodiment
In order that present disclosure is easier to be clearly understood, below according to specific embodiment and combine accompanying drawing, right
The present invention is described in further detail.
As shown in figure 1, a kind of hot upsetting squeeze feeding mechanical hand, including driving means, arms swing mechanism and arm turn-around machine
Structure；Described driving means are motor 1, and it provides power for the motion of arms swing mechanism and arm slew gear；Described handss
Revolution of arm mechanism includes incomplete gear mechanism 23, cylindrical gear mechanism and mechanical hand body 17, mechanical hand body 17 with not complete
All gear mechanism 23 passes through shaft coupling 19 transmitting movement, and incomplete gear mechanism 17 is meshed with cylindrical gear mechanism, and drives
Mechanical hand body 17 makees intermittent-rotation motion；Described arms swing mechanism is arranged on mechanical hand body 17, with respect to mechanical hand
Body 17 swings up and down.
Preferably, as shown in Figure 1, Figure 3, described incomplete gear mechanism includes incomplete internal gear 21 and incomplete external tooth
Wheel 20, described cylindrical gear mechanism include the first roller gear 6 matching with incomplete internal gear 21 and with incomplete external tooth
The second roller gears 7 of matching of wheel 20, are engaged with the first roller gear 6 when incomplete internal gear 21, incomplete external gear 20
When not engaging with the second roller gear 7, mechanical hand body 17 rotates forward；When incomplete internal gear 21 and the first roller gear 6
Do not engage, when incomplete external gear 20 is engaged with the second roller gear 7, mechanical hand body 17 reversed turning.
Alternatively, as shown in Figure 4, Figure 5, the toothed portion of described incomplete internal gear 21 is divided and is occupied 120 degree, described not exclusively
The toothed portion of external gear 20 is divided and is occupied 240 degree, can be by changing the company of incomplete external gear and the drivewheel of incomplete internal gear
The continuous number of teeth, i.e. angle occupied by toothed portion, to adjust the anglec of rotation of mechanical hand body 17.
Preferably, as shown in Figure 1 and Figure 2, described arms swing mechanism include cam 9 and roller 10 composition cam mechanism,
Connecting rod 11, slide block 13, rocking bar 12 and support 14, support 14, rocking bar 12 and slide block 13 constitute endplay device, and one end of connecting rod 11 is even
It is connected on roller 10, the other end is connected on slide block 13, slide block 13 is enclosed within rocking bar 12, one end of rocking bar 12 is hinged on support 14
On；Described mechanical hand body 17 includes intermeshing first conical gear 15 and the second conical gear 16, described cam 9 and
One conical gear 15 axle connects, and carries moving cam 9 to rotate, and roller 10 drivening rod 11 moves up and down with the rotation of cam 9, from
And realize swinging up and down of mechanical arm, the rotation of mechanical hand body 17 does not affect the swing of arms swing mechanism.
Alternatively, described rocking bar 12 swings up and down 15 degree, can realize mechanical arm by changing the contour curve of cam
The regulation of the angle swinging up and down.
Preferably, as shown in figure 1, the output shaft of described motor 1 passes through a belt wheel combination with the 3rd conical gear 4 axle even
Connect, the 3rd conical gear 4 is meshed with the 4th conical gear 5, thus horizontal revolving motion is converted into vertical rotary motion.
Alternatively, as shown in figure 1, the combination of described belt wheel includes one small pulley 2 and a big belt wheel 22, small pulley 2 and
The output shaft of motor 1 connects, and big small pulley is driven by belt 3.
The operation principle of the present invention is as follows：
As shown in figure 1, after motor 1 slows down through small pulley 2 and big belt wheel 22, by the 3rd conical gear 4 and the 4th circle
Horizontal revolving motion is changed into vertical rotary motion by bevel gear 5, i.e. axial rotation motion, and axial rotation motion now passes through connection
Axial organ 19 and the first conical gear 15 and the second conical gear 16 pass to cam 9, enter mechanical arm pendulum as shown in Figure 2
Motivation structure, roller 10 with cam 9 rotation and drivening rod 11 moves up and down, first 15 degree of the bottom of rocking bar 12, complete feeding action
Above put 15 degree more afterwards；Now, in the incomplete gear mechanism 23 as shown in Fig. 3,4,5, when incomplete internal gear 21 and the first circle
When stud wheel 6 engages, incomplete external gear 20 is not engaged with the second roller gear 7, mechanical hand body 17 rotates forward 120 degree,
Then not exclusively internal gear 21 terminates engagement, 15 degree of the mechanical arm swing mechanism bottom, above puts 15 degree again after completing blowing action；
Then not exclusively internal gear 21 does not engage with the first roller gear 6, incomplete external gear 20 engages with the second roller gear 7
When, 120 degree of mechanical hand body 17 reversed turning, complete a circulation.
The present invention relies on cam and endplay device to swing up and down the interval to realize mechanical arm, relies on partial gear machine
The intermittent-rotation that structure to realize mechanical hand body with cylindrical gear mechanism moves, and structure is simple, it is easy to accomplish, take up room little,
Low cost, good stability, can non-stop run for a long time, efficiency high.
The present invention provides power source by motor, by a belt wheel combination and the 3rd conical gear, the 4th conical gear, will
Horizontal revolving motion is converted into vertical rotary motion, provides power for incomplete gear mechanism.
The cam mechanism of the present invention is located at the inside of mechanical hand body, and the rotation of mechanical hand body does not affect mechanical arm
Swing.
By changing the continuous number of teeth of incomplete external gear and the drivewheel of incomplete internal gear, that is, occupied by toothed portion
Angle, to change the anglec of rotation of mechanical hand body；Realize the bottom on mechanical arm by changing the contour curve of cam
Dynamic angle, thus realize designated movement.
Particular embodiments described above, to present invention solves the technical problem that, technical scheme and beneficial effect carry out
Further describe, be should be understood that the specific embodiment that the foregoing is only the present invention, be not limited to this
Invention, all any modification, equivalent substitution and improvement within the spirit and principles in the present invention, done etc., should be included in this
Within bright protection domain.
Claims (7)
1. a kind of hot upsetting squeeze feeding mechanical hand it is characterised in that：Including driving means, arms swing mechanism and arm turn-around machine
Structure；Described driving means are motor (1), and it provides power for the motion of arms swing mechanism and arm slew gear；Described
Arm slew gear includes incomplete gear mechanism (23), cylindrical gear mechanism and mechanical hand body (17), mechanical hand body
(17) shaft coupling (19) transmitting movement, incomplete gear mechanism (17) and Cylinder Gear turbine are passed through with incomplete gear mechanism (23)
Structure is meshed, and driving mechanical mobile phone body (17) makees intermittent-rotation motion；Described arms swing mechanism is arranged on mechanical hand body
(17), on, swing up and down with respect to mechanical hand body (17).
2. hot upsetting squeeze feeding mechanical hand according to claim 1 it is characterised in that：Described incomplete gear mechanism is included not
Internal gear (21) and incomplete external gear (20) completely, described cylindrical gear mechanism includes matching with incomplete internal gear (21)
The first roller gear (6) and the second roller gear (7) matching with incomplete external gear (20), when incomplete internal gear
(21) engage with the first roller gear (6), when incomplete external gear (20) is not engaged with the second roller gear (7), mechanical mobile phone
Body (17) rotates forward；Do not engage with the first roller gear (6) when incomplete internal gear (21), incomplete external gear (20) and the
During two roller gears (7) engagement, mechanical hand body (17) reversed turning.
3. hot upsetting squeeze feeding mechanical hand according to claim 2 it is characterised in that：The band of described incomplete internal gear (21)
Toothed portion occupies 120 degree, and the toothed portion of described incomplete external gear (20) is divided and occupied 240 degree.
4. the hot upsetting squeeze feeding mechanical hand according to Claims 2 or 3 it is characterised in that：Described arms swing mechanism includes
Cam mechanism, connecting rod (11), slide block (13), rocking bar (12) and support (14) that cam (9) and roller (10) form, support
(14), rocking bar (12) and slide block (13) constitute endplay device, and one end of connecting rod (11) is connected on roller (10), and the other end connects
On slide block (13), slide block (13) is enclosed within rocking bar (12), and one end of rocking bar (12) is hinged on support (14)；Described mechanical hand
Body (17) includes intermeshing first conical gear (15) and the second conical gear (16), described cam (9) and the first circle
Bevel gear (15) axle connects, and carries moving cam (9) to rotate, and roller (10) drivening rod (11) is upper and lower with the rotation of cam (9)
Motion, thus realizing swinging up and down of mechanical arm, the rotation of mechanical hand body (17) does not affect the swing of arms swing mechanism.
5. hot upsetting squeeze feeding mechanical hand according to claim 4 it is characterised in that：Described rocking bar (12) swings up and down 15
Degree.
6. hot upsetting squeeze feeding mechanical hand according to claim 4 it is characterised in that：The output shaft of described motor (1) leads to
Cross a belt wheel combination to be connected with the 3rd conical gear (4) axle, the 3rd conical gear (4) is meshed with the 4th conical gear (5), from
And horizontal revolving motion is converted into vertical rotary motion.
7. hot upsetting squeeze feeding mechanical hand according to claim 6 it is characterised in that：Described belt wheel combination includes a small band
Wheel (2) and a big belt wheel (22), small pulley (2) is connected with the output shaft of motor (1), and big small pulley passes through belt (3) and passes
Dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611010607.3A CN106424514B (en) | 2016-11-17 | 2016-11-17 | Hot upsetting squeeze feeding mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611010607.3A CN106424514B (en) | 2016-11-17 | 2016-11-17 | Hot upsetting squeeze feeding mechanical hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106424514A true CN106424514A (en) | 2017-02-22 |
| CN106424514B CN106424514B (en) | 2018-05-18 |
Family
ID=58220714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611010607.3A Active CN106424514B (en) | 2016-11-17 | 2016-11-17 | Hot upsetting squeeze feeding mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106424514B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107059193A (en) * | 2017-04-17 | 2017-08-18 | 江南大学 | A kind of continuous pair of ring section color bunchy yarn process units and production method |
| CN107267981A (en) * | 2017-07-14 | 2017-10-20 | 芜湖鼎恒材料技术有限公司 | A kind of linear laser cladding apparatus repaired for the Corrugator roller external arc flank of tooth |
| CN108996201A (en) * | 2018-09-19 | 2018-12-14 | 常州纺织服装职业技术学院 | A kind of motion profile is the feeding mechanism of rectangle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3546956A (en) * | 1969-08-11 | 1970-12-15 | Leland F Blatt | Harmonic actuating unit for a power operated workpiece gripping and handling mechanism |
| CN201645484U (en) * | 2010-02-26 | 2010-11-24 | 华南理工大学 | Robot applied in engine air valve electric upsetting hot forging forming process |
| CN104400781A (en) * | 2014-11-18 | 2015-03-11 | 河海大学常州校区 | Material feeding manipulator |
| CN206215840U (en) * | 2016-11-17 | 2017-06-06 | 常州机电职业技术学院 | Hot upsetting squeeze feeding mechanical hand |
-
2016
- 2016-11-17 CN CN201611010607.3A patent/CN106424514B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3546956A (en) * | 1969-08-11 | 1970-12-15 | Leland F Blatt | Harmonic actuating unit for a power operated workpiece gripping and handling mechanism |
| CN201645484U (en) * | 2010-02-26 | 2010-11-24 | 华南理工大学 | Robot applied in engine air valve electric upsetting hot forging forming process |
| CN104400781A (en) * | 2014-11-18 | 2015-03-11 | 河海大学常州校区 | Material feeding manipulator |
| CN206215840U (en) * | 2016-11-17 | 2017-06-06 | 常州机电职业技术学院 | Hot upsetting squeeze feeding mechanical hand |
Non-Patent Citations (1)
| Title |
|---|
| 无: "热镦挤送料机械手", 《百度文库》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107059193A (en) * | 2017-04-17 | 2017-08-18 | 江南大学 | A kind of continuous pair of ring section color bunchy yarn process units and production method |
| CN107267981A (en) * | 2017-07-14 | 2017-10-20 | 芜湖鼎恒材料技术有限公司 | A kind of linear laser cladding apparatus repaired for the Corrugator roller external arc flank of tooth |
| CN107267981B (en) * | 2017-07-14 | 2019-05-31 | 芜湖鼎恒材料技术有限公司 | A kind of linear laser cladding apparatus for Corrugator roller external arc flank of tooth reparation |
| CN108996201A (en) * | 2018-09-19 | 2018-12-14 | 常州纺织服装职业技术学院 | A kind of motion profile is the feeding mechanism of rectangle |
| CN108996201B (en) * | 2018-09-19 | 2023-10-20 | 常州纺织服装职业技术学院 | Feeding mechanism with rectangular motion trail |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106424514B (en) | 2018-05-18 |
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Effective date of registration: 20201221 Address after: No.4-30, zone 4, Wenzhou Trade City, No.1, Wenzhou street, Liuzhou City, Guangxi Zhuang Autonomous Region Patentee after: Liuzhou qinghang Intellectual Property Service Co.,Ltd. Address before: 213000 No. 26 Mingxin Middle Road, Hutang Town, Wujin District, Changzhou City, Jiangsu Province Patentee before: CHANGZHOU INSTITUTE OF MECHATRONIC TECHNOLOGY |
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Effective date of registration: 20210428 Address after: No.189 Xiyuan Avenue, Haian hi tech Zone (former Hai'an town), Haian City, Nantong City, Jiangsu Province 226600 Patentee after: Kaiyu Hardware Products (Nantong) Co.,Ltd. Address before: 545000 no.4-30, District 4, Wenzhou commercial city, No.1 Wenzhou street, Liuzhou City, Guangxi Zhuang Autonomous Region Patentee before: Liuzhou qinghang Intellectual Property Service Co.,Ltd. |