CN108994395A - It is a kind of can up and down and angle-inserting type manipulator - Google Patents
It is a kind of can up and down and angle-inserting type manipulator Download PDFInfo
- Publication number
- CN108994395A CN108994395A CN201810600037.6A CN201810600037A CN108994395A CN 108994395 A CN108994395 A CN 108994395A CN 201810600037 A CN201810600037 A CN 201810600037A CN 108994395 A CN108994395 A CN 108994395A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- cylinder
- motion device
- manipulator
- movement mechanism
- 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
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23F—MAKING GEARS OR TOOTHED RACKS
- B23F23/00—Accessories or equipment combined with or arranged in, or specially designed to form part of, gear-cutting machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
It is a kind of can up and down and angle-inserting type manipulator, it is mounted on transverse beam assembly including transverse beam assembly, double manipulator, pneumatic clamper fixed plate and movement mechanism, movement mechanism, double manipulator is connected with movement mechanism, rack gear is provided on transverse beam assembly, movement mechanism is connected with rack gear；Movement mechanism includes X-motion device and Z-motion device, Z-motion device is between X-motion device and transverse beam assembly, X-motion device is located on the outside of Z-motion device, and Z-motion device is contained within side by X-motion device；The robot manipulator structure is designed according to lathe inner space and Workpiece structure feature, comprehensively consider the factors such as efficiency, two parallel air grippers are alternately accomplished feeding, feeding, it is compact-sized reasonable, occupy little space, and gear clamping jaw can be rotated with the rotation of cylinder, thus different angles can be set as needed, and be able to satisfy crawl and foldback of the manipulator to workpiece in different small spaces.
Description
Technical field
The present invention relates to the manipulator field of precision hobbing machine, it is especially a kind of can up and down and the manipulator of angle-inserting type.
Background technique
Gear-hobbing machine is most widely used a kind of lathe in gear cutting machine, machinable straight-tooth, helical teeth on gear-hobbing machine
Roller gear, also processable worm gear, sprocket wheel etc., with hobboing cutter by generating processing straight-tooth, helical teeth and double helical tooth roller gear and
The gear cutting machine of worm gear, gear-hobbing machine are mixed manipulator collocation and are used, and can complete to need manually to be inconvenient to operate or even people
The impossible work of work, not only increases working efficiency, but also gear-hobbing machine develops to broader field, however due to skill
The gear clamping jaw of the reason of art problem, the manipulator of common gear-hobbing machine can only clamp a direction, if gear-hobbing machine
The narrow space of workpiece area is put, then manipulator is just inconvenient or even is difficult to complete the purpose of clamping workpiece, not only reduces work
Make efficiency, also contained the development in gear-hobbing machine manipulator field, thus needs to design and a kind of different angles can be set as needed
Degree, is able to satisfy manipulator to the crawl of workpiece in different small spaces and the manipulator of foldback.
The present invention be exactly in order to solve problem above and carry out improvement.
Summary of the invention
The object of the present invention is to provide a kind of compact-sized reasonable, occupancy little spaces, and gear clamping jaw can be with gas
The rotation of cylinder and rotate, different angles can be set as needed, be able to satisfy manipulator to workpiece in different small spaces
Grab the manipulator of the energy with foldback or more and angle-inserting type.
The present invention is that technical solution used by solving its technical problem is:
It is a kind of can up and down and the manipulator of angle-inserting type, including transverse beam assembly, double manipulator, pneumatic clamper fixed plate and fortune
Motivation structure, the movement mechanism are mounted on transverse beam assembly, and double manipulator is connected with movement mechanism, the transverse beam assembly
On be provided with rack gear, the movement mechanism is connected with rack gear；
The movement mechanism includes X-motion device and Z-motion device, and the Z-motion device is located at X-axis
To between telecontrol equipment and transverse beam assembly, X-motion device is located on the outside of Z-motion device, and X-motion device is by Z
Axial-movement devices are contained within side；
The double manipulator is mounted on the lower end of Z-motion device, and the double manipulator includes gas
Cylinder, pneumatic clamper fixed plate, gear clamping jaw and pneumatic clamper；
The cylinder is provided with a pair, and the upper end between the pair of cylinder is provided with handling module connecting plate, and described one
To shaft and cylinder connecting plate is provided between cylinder, the cylinder connecting plate is mounted on the inside of cylinder, the both ends point of shaft
It is not connected with the cylinder of its two sides；
The bottom end of the handling module connecting plate is provided with adjustable apparatus, and the bottom end of handling module connecting plate, which is mounted on, to be turned
On axis, the cylinder can be rotated by adjustable apparatus in shaft；
The upper end of the handling module connecting plate is provided with vertical beam steel pipe, the upper end of the vertical beam steel pipe and Z-motion
The bottom end of device is connected, and the lower end of vertical beam steel pipe is connected with the upper end of handling module connecting plate；
The gear clamping jaw includes the first pinion gear clamping jaw and the second pinion gear clamping jaw, and the gear clamping jaw is located at cylinder
Side lower end, pneumatic clamper fixed plate are provided with gas between the gear clamping jaw and pneumatic clamper fixed plate between cylinder and gear clamping jaw
Pawl, the pneumatic clamper are mounted on the side lower end of cylinder by pneumatic clamper fixed plate；
The gear clamping jaw is mounted on the bottom end of pneumatic clamper；
Further, wired rail is also set up on the transverse beam assembly, the rack gear and line rail are parallel to each other, and rack gear, which is located at, to be leaned on
The side of nearly movement mechanism；
The movement mechanism can be moved by line rail on transverse beam assembly；
Wherein, it is provided with clamping jaw rib on the gear clamping jaw, the clamping jaw rib is mounted on the lower end of gear clamping jaw；
The cylinder is located at the side-lower of Z-motion device；
The bottom end opening of the gear clamping jaw, the interposition of gear clamping jaw are equipped with arc-shaped recess.
Working principle are as follows: the X-motion device of starting device, movement mechanism is moved to specific position on transverse beam assembly
Afterwards, the Z-motion device of movement mechanism, which moves down, pushes double manipulator, and cylinder starting pushes gear clamping jaw to clamp work
Part, then cylinder is retracted, and workpiece is clamped, and Z-motion device moves up the movement on transverse beam assembly of rear X-motion device and returns
Origin-location is gone back to, a reclaiming process to workpiece is completed.
The beneficial effects of the present invention are: the robot manipulator structure is designed according to lathe inner space and Workpiece structure feature,
Comprehensively considering the factors such as efficiency, two parallel air grippers are alternately accomplished feeding, feeding, and it is compact-sized rationally to occupy little space, and
And gear clamping jaw can be rotated with the rotation of cylinder, thus different angles can be set as needed, it is able to satisfy manipulator pair
The crawl of workpiece and foldback in different small spaces.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the manipulator of a kind of energy proposed by the present invention or more and angle-inserting type.
Fig. 2 is the structural schematic diagram of double manipulator in Fig. 1.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Diagram and specific embodiment are closed, the present invention is further explained.
It is shown in reference picture 1, Fig. 2, this it is a kind of can up and down and the manipulator of angle-inserting type, including transverse beam assembly 15, double machinery
Fingerprint block 30, pneumatic clamper fixed plate 4 and movement mechanism, the movement mechanism are mounted on transverse beam assembly 15, double manipulator
30 are connected with movement mechanism, and rack gear 11 is provided on the transverse beam assembly 15, and the movement mechanism is connected with rack gear 11；
The movement mechanism includes X-motion device 32 and Z-motion device 31, the Z-motion device 31
Between X-motion device 32 and transverse beam assembly 15, X-motion device 32 is located at 31 outside of Z-motion device, X
Z-motion device 31 is contained within side by axial-movement devices 32；
The double manipulator 30 is mounted on the lower end of Z-motion device 31, the double manipulator 30
Include cylinder 3, pneumatic clamper fixed plate 4, gear clamping jaw and pneumatic clamper 5；
The cylinder 3 is provided with a pair, and the upper end between the pair of cylinder 3 is provided with handling module connecting plate 1, described
Shaft 8 and cylinder connecting plate 2 are provided between a pair of of cylinder 3, the cylinder connecting plate 2 is mounted on the inside of cylinder 3, shaft 8
Both ends be connected respectively with the cylinder 3 of its two sides；
The bottom end of the handling module connecting plate 1 is provided with adjustable apparatus 10, the bottom end installation of handling module connecting plate 1
In shaft 8, the cylinder 3 can be rotated by adjustable apparatus 10 in shaft 8；
The upper end of the handling module connecting plate 1 is provided with vertical beam steel pipe 16, the upper end of the vertical beam steel pipe 16 and Z axis to
The bottom end of telecontrol equipment 31 is connected, and the lower end of vertical beam steel pipe 16 is connected with the upper end of handling module connecting plate 1；
The gear clamping jaw includes the first pinion gear clamping jaw 7 and the second pinion gear clamping jaw 6, and the gear clamping jaw is located at cylinder
3 side lower end, pneumatic clamper fixed plate 4 are set between the gear clamping jaw and pneumatic clamper fixed plate 4 between cylinder 3 and gear clamping jaw
It is equipped with pneumatic clamper 5, the pneumatic clamper 5 is mounted on the side lower end of cylinder 3 by pneumatic clamper fixed plate 4；
The gear clamping jaw is mounted on the bottom end of pneumatic clamper 5；
Further, wired rail 12 is also set up on the transverse beam assembly 15, the rack gear 11 and line rail 12 are parallel to each other, tooth
Item 11 is located at close to the side of movement mechanism；
The movement mechanism can be moved by line rail 12 on transverse beam assembly 15；
Wherein, it is provided with clamping jaw rib 9 on the gear clamping jaw, the clamping jaw rib 9 is mounted on the lower end of gear clamping jaw；
The cylinder 3 is located at the side-lower of Z-motion device 31；
The bottom end opening of the gear clamping jaw, the interposition of gear clamping jaw are equipped with arc-shaped recess.
Starting device, after the X-motion device of movement mechanism is moved to specific position on transverse beam assembly, movement mechanism
Z-motion device move down and push double manipulator, cylinder starting pushes gear clamping jaw to clamp workpiece, and then cylinder moves back
It returns, workpiece is clamped, and Z-motion device moves up rear X-motion device mobile return origin-location on transverse beam assembly, complete
Reclaiming process of pairs of workpiece.
The robot manipulator structure is designed according to lathe inner space and Workpiece structure feature, comprehensively considers the factors such as efficiency, and two
A parallel air gripper is alternately accomplished feeding, feeding, compact-sized reasonable, occupies little space, and gear clamping jaw can be with cylinder
Rotation and rotate, thus different angles can be set as needed, be able to satisfy manipulator to workpiece in different small spaces
Crawl and foldback.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent defines.
Claims (5)
1. a kind of can up and down and the manipulator of angle-inserting type, including transverse beam assembly (15), double manipulator (30), pneumatic clamper fix
Plate (4) and movement mechanism, the movement mechanism are mounted on transverse beam assembly (15), double manipulator (30) and movement mechanism
It is connected, it is characterised in that:
Rack gear (11) are provided on the transverse beam assembly (15), the movement mechanism is connected with rack gear (11)；
The movement mechanism includes X-motion device (32) and Z-motion device (31), the Z-motion device
(31) between X-motion device (32) and transverse beam assembly (15), X-motion device (32) is located at Z-motion dress
It sets on the outside of (31), Z-motion device (31) is contained within side by X-motion device (32)；
The double manipulator (30) is mounted on the lower end of Z-motion device (31), the double manipulator
(30) comprising cylinder (3), pneumatic clamper fixed plate (4), gear clamping jaw and pneumatic clamper (5)；
The cylinder (3) is provided with a pair, and the upper end between the pair of cylinder (3) is provided with handling module connecting plate (1), institute
It states and is provided with shaft (8) and cylinder connecting plate (2) between a pair of of cylinder (3), the cylinder connecting plate (2) is mounted on cylinder (3)
Inside, the both ends of shaft (8) are connected with the cylinder of its two sides (3) respectively；
The bottom end of the handling module connecting plate (1) is provided with adjustable apparatus (10), the bottom end peace of handling module connecting plate (1)
On shaft (8), the cylinder (3) can be rotated by adjustable apparatus (10) on shaft (8)；
The upper end of the handling module connecting plate (1) is provided with vertical beam steel pipe (16), the upper end of the vertical beam steel pipe (16) and Z axis
It is connected to the bottom end of telecontrol equipment (31), the lower end of vertical beam steel pipe (16) is connected with the upper end of handling module connecting plate (1)；
The gear clamping jaw includes that the first pinion gear clamping jaw (7) and the second pinion gear clamping jaw (6), the gear clamping jaw are located at cylinder
(3) side lower end, pneumatic clamper fixed plate (4) are located between cylinder (3) and gear clamping jaw, the gear clamping jaw and pneumatic clamper fixed plate
(4) it is provided between pneumatic clamper (5), the pneumatic clamper (5) is mounted on the side lower end of cylinder (3) by pneumatic clamper fixed plate (4)；
The gear clamping jaw is mounted on the bottom end of pneumatic clamper (5).
2. it is as described in claim 1 it is a kind of can up and down and the manipulator of angle-inserting type, which is characterized in that the transverse beam assembly (15)
On also set up wired rail (12), the rack gear (11) and line rail (12) are parallel to each other, and rack gear (11) is located at close to movement mechanism
Side；
The movement mechanism can be moved by line rail (12) on transverse beam assembly (15).
3. it is as described in claim 1 it is a kind of can up and down and the manipulator of angle-inserting type, which is characterized in that set on the gear clamping jaw
It is equipped with clamping jaw rib (9), the clamping jaw rib (9) is mounted on the lower end of gear clamping jaw.
4. it is as described in claim 1 it is a kind of can up and down and the manipulator of angle-inserting type, which is characterized in that the cylinder (3) is located at Z
The side-lower of axial-movement devices (31).
5. it is as described in claim 1 it is a kind of can up and down and the manipulator of angle-inserting type, which is characterized in that the bottom of the gear clamping jaw
The interposition of end opening, gear clamping jaw is equipped with arc-shaped recess.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810600037.6A CN108994395B (en) | 2018-06-12 | 2018-06-12 | Manipulator capable of being inserted up and down and obliquely |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810600037.6A CN108994395B (en) | 2018-06-12 | 2018-06-12 | Manipulator capable of being inserted up and down and obliquely |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108994395A true CN108994395A (en) | 2018-12-14 |
| CN108994395B CN108994395B (en) | 2023-08-29 |
Family
ID=64599990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810600037.6A Active CN108994395B (en) | 2018-06-12 | 2018-06-12 | Manipulator capable of being inserted up and down and obliquely |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108994395B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113878181A (en) * | 2021-09-18 | 2022-01-04 | 中航西安飞机工业集团股份有限公司 | Clamping structure of gear parts and using method |
| CN113909846A (en) * | 2021-11-09 | 2022-01-11 | 苏州方普智能装备有限公司 | Multi-degree-of-freedom oblique insertion type automatic screw locking machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203045450U (en) * | 2013-02-01 | 2013-07-10 | 嘉禾工具有限公司 | Full-automatic grinding machine |
| CN104526544A (en) * | 2014-12-24 | 2015-04-22 | 宁波沃特美逊机器人科技有限公司 | Cylindrical grinding gantry manipulator |
| CN104842019A (en) * | 2015-06-04 | 2015-08-19 | 浙江日创机电科技有限公司 | Hobbing machine feeding and discharging device |
| US20150276549A1 (en) * | 2014-03-31 | 2015-10-01 | Automation Controls & Engineering, LLC | Flexible automation cell for performing secondary operations in concert with a machining center and roll check operations |
| CN105750660A (en) * | 2016-05-05 | 2016-07-13 | 湖州科达化工燃料有限公司 | Automatic feeding and discharging device of gear hobbing machine |
| CN206029182U (en) * | 2016-08-30 | 2017-03-22 | 吴中区横泾嘉运模具厂 | Iron core rod material loading manipulator of iron core component Assembly mechanism |
| CN107378996A (en) * | 2017-08-24 | 2017-11-24 | 广东利元亨智能装备有限公司 | A kind of revolving mechanical gripper |
| CN208450766U (en) * | 2018-06-12 | 2019-02-01 | 浙江屹立机器人科技有限公司 | It is a kind of can up and down and angle-inserting type manipulator |
-
2018
- 2018-06-12 CN CN201810600037.6A patent/CN108994395B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203045450U (en) * | 2013-02-01 | 2013-07-10 | 嘉禾工具有限公司 | Full-automatic grinding machine |
| US20150276549A1 (en) * | 2014-03-31 | 2015-10-01 | Automation Controls & Engineering, LLC | Flexible automation cell for performing secondary operations in concert with a machining center and roll check operations |
| CN104526544A (en) * | 2014-12-24 | 2015-04-22 | 宁波沃特美逊机器人科技有限公司 | Cylindrical grinding gantry manipulator |
| CN104842019A (en) * | 2015-06-04 | 2015-08-19 | 浙江日创机电科技有限公司 | Hobbing machine feeding and discharging device |
| CN105750660A (en) * | 2016-05-05 | 2016-07-13 | 湖州科达化工燃料有限公司 | Automatic feeding and discharging device of gear hobbing machine |
| CN206029182U (en) * | 2016-08-30 | 2017-03-22 | 吴中区横泾嘉运模具厂 | Iron core rod material loading manipulator of iron core component Assembly mechanism |
| CN107378996A (en) * | 2017-08-24 | 2017-11-24 | 广东利元亨智能装备有限公司 | A kind of revolving mechanical gripper |
| CN208450766U (en) * | 2018-06-12 | 2019-02-01 | 浙江屹立机器人科技有限公司 | It is a kind of can up and down and angle-inserting type manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113878181A (en) * | 2021-09-18 | 2022-01-04 | 中航西安飞机工业集团股份有限公司 | Clamping structure of gear parts and using method |
| CN113909846A (en) * | 2021-11-09 | 2022-01-11 | 苏州方普智能装备有限公司 | Multi-degree-of-freedom oblique insertion type automatic screw locking machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108994395B (en) | 2023-08-29 |
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