CN108994395B - Manipulator capable of being inserted up and down and obliquely - Google Patents
Manipulator capable of being inserted up and down and obliquely Download PDFInfo
- Publication number
- CN108994395B CN108994395B CN201810600037.6A CN201810600037A CN108994395B CN 108994395 B CN108994395 B CN 108994395B CN 201810600037 A CN201810600037 A CN 201810600037A CN 108994395 B CN108994395 B CN 108994395B
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- CN
- China
- Prior art keywords
- axis motion
- motion device
- clamping jaw
- air
- manipulator
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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
Abstract
The manipulator comprises a beam assembly, a double-row manipulator module, an air claw fixing plate and a movement mechanism, wherein the movement mechanism is arranged on the beam assembly; the motion mechanism comprises an X-axis motion device and a Z-axis motion device, the Z-axis motion device is positioned between the X-axis motion device and the beam assembly, the X-axis motion device is positioned at the outer side of the Z-axis motion device, and the X-axis motion device comprises the Z-axis motion device at the inner side of the Z-axis motion device; the manipulator structure is designed according to the internal space of the machine tool and the structural characteristics of the workpiece, factors such as efficiency and the like are comprehensively considered, the two parallel air pawls alternately complete material taking and feeding, the structure is compact and reasonable, the minimum space is occupied, and the gear clamping jaws can rotate along with the rotation of the air cylinder, so that different angles can be set according to the needs, and the manipulator can grasp and return workpieces in different narrow spaces.
Description
Technical Field
The invention relates to the field of manipulators of precision gear hobbing machines, in particular to a manipulator capable of being inserted up and down and obliquely.
Background
The gear hobbing machine is the most widely applied machine tool in gear machining machine tools, the gear hobbing machine can be used for cutting straight teeth and helical gears, worm gears, chain wheels and the like, a hob is used for machining the straight teeth, the helical teeth and the herringbone gears and the worm gears according to a generating method, the gear hobbing machine is matched with a manipulator for use, the work which is inconvenient to operate manually or cannot be completed manually can be completed, the working efficiency is improved, the gear hobbing machine is developed to a wider field, however, due to the technical problem, the gear clamping jaw of the manipulator of the conventional gear hobbing machine can only clamp a certain direction, if the space of the workpiece area of the gear hobbing machine is narrow, the manipulator is inconvenient or difficult to clamp a workpiece, the working efficiency is reduced, and the development of the manipulator field of the gear hobbing machine is restrained, so that the manipulator can set different angles according to needs is designed, and the grabbing and returning of the workpieces in different narrow spaces can be met.
The present invention has been made to solve the above problems.
Disclosure of Invention
The invention aims to provide the manipulator which has a compact and reasonable structure, occupies a very small space, can rotate along with the rotation of the cylinder, can set different angles according to the needs, and can grasp and return workpieces in different narrow spaces by the manipulator.
The invention adopts the technical proposal for solving the technical problems that:
the manipulator comprises a beam assembly, a double-row manipulator module, an air claw fixing plate and a movement mechanism, wherein the movement mechanism is arranged on the beam assembly, the double-row manipulator module is connected with the movement mechanism, a rack is arranged on the beam assembly, and the movement mechanism is connected with the rack;
the motion mechanism comprises an X-axis motion device and a Z-axis motion device, the Z-axis motion device is positioned between the X-axis motion device and the beam assembly, the X-axis motion device is positioned at the outer side of the Z-axis motion device, and the X-axis motion device comprises the Z-axis motion device at the inner side of the Z-axis motion device;
the double-row manipulator module is arranged at the lower end of the Z-axis movement device and comprises an air cylinder, an air claw fixing plate, a gear clamping jaw and an air claw;
the two cylinders are provided with a pair of grabbing module connecting plates, a rotating shaft and a cylinder connecting plate are arranged between the pair of cylinders, the cylinder connecting plates are arranged on the inner sides of the cylinders, and two ends of the rotating shaft are respectively connected with the cylinders on two sides of the rotating shaft;
the bottom end of the grabbing module connecting plate is provided with an adjustable device, the bottom end of the grabbing module connecting plate is arranged on a rotating shaft, and the air cylinder can rotate on the rotating shaft through the adjustable device;
the upper end of the grabbing module connecting plate is provided with a vertical beam steel pipe, the upper end of the vertical beam steel pipe is connected with the bottom end of the Z axial movement device, and the lower end of the vertical beam steel pipe is connected with the upper end of the grabbing module connecting plate;
the gear clamping jaw comprises a first pinion clamping jaw and a second pinion clamping jaw, the gear clamping jaw is positioned at the side lower end of the air cylinder, the air jaw fixing plate is positioned between the air cylinder and the gear clamping jaw, an air jaw is arranged between the gear clamping jaw and the air jaw fixing plate, and the air jaw is arranged at the side lower end of the air cylinder through the air jaw fixing plate;
the gear clamping jaw is arranged at the bottom end of the air jaw;
further, the beam assembly is also provided with a wire rail, the rack and the wire rail are parallel to each other, and the rack is positioned at one side close to the movement mechanism;
the motion mechanism can move on the beam assembly through a wire rail;
the clamping jaw is provided with a clamping jaw flange, and the clamping jaw flange is arranged at the lower end of the clamping jaw;
the cylinder is positioned below the side of the Z-axis movement device;
the bottom end opening of the gear clamping jaw is provided with an arc-shaped recess in the middle position of the gear clamping jaw.
The working principle is as follows: after the X axial movement device of the movement mechanism moves to a specific position on the beam assembly, the Z axial movement device of the movement mechanism moves downwards to push the double-row manipulator module, the cylinder starts to push the gear clamping jaw to clamp the workpiece, then the cylinder returns, the workpiece is clamped, and after the Z axial movement device moves upwards, the X axial movement device moves on the beam assembly to return to the original position, so that one-time material taking process of the workpiece is completed.
The invention has the beneficial effects that: the manipulator structure is designed according to the internal space of the machine tool and the structural characteristics of the workpiece, factors such as efficiency and the like are comprehensively considered, the two parallel air pawls alternately complete material taking and feeding, the structure is compact and reasonable, the minimum space is occupied, and the gear clamping jaws can rotate along with the rotation of the air cylinder, so that different angles can be set according to the needs, and the manipulator can grasp and return workpieces in different narrow spaces.
Drawings
Fig. 1 is a schematic structural view of a manipulator capable of being inserted up and down and inclined.
Fig. 2 is a schematic structural view of the dual-row robot module of fig. 1.
Detailed Description
In order that the manner in which the above-recited features, advantages, objects and advantages of the invention are obtained, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
Referring to fig. 1 and 2, the manipulator capable of being inserted up and down and obliquely comprises a beam assembly 15, a double-row manipulator module 30, an air jaw fixing plate 4 and a moving mechanism, wherein the moving mechanism is arranged on the beam assembly 15, the double-row manipulator module 30 is connected with the moving mechanism, a rack 11 is arranged on the beam assembly 15, and the moving mechanism is connected with the rack 11;
the motion mechanism comprises an X-axis motion device 32 and a Z-axis motion device 31, the Z-axis motion device 31 is positioned between the X-axis motion device 32 and the beam assembly 15, the X-axis motion device 32 is positioned outside the Z-axis motion device 31, and the X-axis motion device 32 comprises the Z-axis motion device 31 inside the Z-axis motion device;
the double-row manipulator module 30 is arranged at the lower end of the Z-axis movement device 31, and the double-row manipulator module 30 comprises an air cylinder 3, an air claw fixing plate 4, a gear clamping jaw and an air claw 5;
the two cylinders 3 are provided with a pair, a grabbing module connecting plate 1 is arranged at the upper end between the pair of cylinders 3, a rotating shaft 8 and a cylinder connecting plate 2 are arranged between the pair of cylinders 3, the cylinder connecting plate 2 is arranged at the inner side of the cylinders 3, and two ends of the rotating shaft 8 are respectively connected with the cylinders 3 at two sides of the rotating shaft;
the bottom end of the grabbing module connecting plate 1 is provided with an adjustable device 10, the bottom end of the grabbing module connecting plate 1 is arranged on a rotating shaft 8, and the air cylinder 3 can rotate on the rotating shaft 8 through the adjustable device 10;
the upper end of the grabbing module connecting plate 1 is provided with a vertical beam steel pipe 16, the upper end of the vertical beam steel pipe 16 is connected with the bottom end of the Z axial movement device 31, and the lower end of the vertical beam steel pipe 16 is connected with the upper end of the grabbing module connecting plate 1;
the gear clamping jaw comprises a first pinion clamping jaw 7 and a second pinion clamping jaw 6, the gear clamping jaw is positioned at the side lower end of the air cylinder 3, the air jaw fixing plate 4 is positioned between the air cylinder 3 and the gear clamping jaw, an air jaw 5 is arranged between the gear clamping jaw and the air jaw fixing plate 4, and the air jaw 5 is arranged at the side lower end of the air cylinder 3 through the air jaw fixing plate 4;
the gear clamping jaw is arranged at the bottom end of the air jaw 5;
further, the beam assembly 15 is further provided with a wire rail 12, the rack 11 and the wire rail 12 are parallel to each other, and the rack 11 is positioned at one side close to the movement mechanism;
the motion mechanism can move on the beam assembly 15 through the wire rail 12;
the gear clamping jaw is provided with a clamping jaw flange 9, and the clamping jaw flange 9 is arranged at the lower end of the gear clamping jaw;
the cylinder 3 is positioned below the side of the Z-axis movement device 31;
the bottom end opening of the gear clamping jaw is provided with an arc-shaped recess in the middle position of the gear clamping jaw.
After the X axial movement device of the movement mechanism moves to a specific position on the beam assembly, the Z axial movement device of the movement mechanism moves downwards to push the double-row manipulator module, the cylinder starts to push the gear clamping jaw to clamp the workpiece, then the cylinder returns, the workpiece is clamped, and after the Z axial movement device moves upwards, the X axial movement device moves on the beam assembly to return to the original position, so that one-time material taking process of the workpiece is completed.
The manipulator structure is designed according to the internal space of the machine tool and the structural characteristics of the workpiece, factors such as efficiency and the like are comprehensively considered, the two parallel air pawls alternately complete material taking and feeding, the structure is compact and reasonable, the minimum space is occupied, and the gear clamping jaws can rotate along with the rotation of the air cylinder, so that different angles can be set according to the needs, and the manipulator can grasp and return workpieces in different narrow spaces.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The utility model provides a manipulator that can go up and down and insert to one side, includes beam assembly (15), double manipulator module (30), gas claw fixed plate (4) and movement mechanism, movement mechanism installs on beam assembly (15), and double manipulator module (30) link to each other its characterized in that with movement mechanism:
the beam assembly (15) is provided with a rack (11), and the movement mechanism is connected with the rack (11);
the motion mechanism comprises an X-axis motion device (32) and a Z-axis motion device (31), the Z-axis motion device (31) is positioned between the X-axis motion device (32) and the beam assembly (15), the X-axis motion device (32) is positioned outside the Z-axis motion device (31), and the X-axis motion device (32) comprises the Z-axis motion device (31) at the inner side of the Z-axis motion device;
the double-row manipulator module (30) is arranged at the lower end of the Z-axis movement device (31), and the double-row manipulator module (30) comprises an air cylinder (3), an air claw fixing plate (4), a gear clamping jaw and an air claw (5);
the two-way type automatic gripping device is characterized in that a pair of cylinders (3) is arranged, a gripping module connecting plate (1) is arranged at the upper end between the pair of cylinders (3), a rotating shaft (8) and a cylinder connecting plate (2) are arranged between the pair of cylinders (3), the cylinder connecting plate (2) is arranged at the inner side of the cylinders (3), and two ends of the rotating shaft (8) are respectively connected with the cylinders (3) at two sides of the rotating shaft;
the bottom end of the grabbing module connecting plate (1) is provided with an adjustable device (10), the bottom end of the grabbing module connecting plate (1) is arranged on the rotating shaft (8), and the air cylinder (3) can rotate on the rotating shaft (8) through the adjustable device (10);
the upper end of the grabbing module connecting plate (1) is provided with a vertical beam steel pipe (16), the upper end of the vertical beam steel pipe (16) is connected with the bottom end of the Z axial movement device (31), and the lower end of the vertical beam steel pipe (16) is connected with the upper end of the grabbing module connecting plate (1);
the gear clamping jaw comprises a first pinion clamping jaw (7) and a second pinion clamping jaw (6), the gear clamping jaw is positioned at the side lower end of the air cylinder (3), the air jaw fixing plate (4) is positioned between the air cylinder (3) and the gear clamping jaw, an air jaw (5) is arranged between the gear clamping jaw and the air jaw fixing plate (4), and the air jaw (5) is arranged at the side lower end of the air cylinder (3) through the air jaw fixing plate (4);
the gear clamping jaw is arranged at the bottom end of the air claw (5);
the beam assembly (15) is also provided with a wire rail (12), the rack (11) and the wire rail (12) are parallel to each other, and the rack (11) is positioned at one side close to the movement mechanism;
the motion mechanism can move on the beam assembly (15) through the wire rail (12);
the gear clamping jaw is provided with a clamping jaw flange (9), and the clamping jaw flange (9) is arranged at the lower end of the gear clamping jaw.
2. A manipulator according to claim 1, characterised in that the cylinder (3) is located laterally below the Z-axis movement means (31).
3. A manipulator according to claim 1, wherein the bottom end of the gear jaw is open and the middle of the gear jaw is provided with an 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 CN108994395A (en) | 2018-12-14 |
| CN108994395B true CN108994395B (en) | 2023-08-29 |
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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) |
Families Citing this family (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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| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9551628B2 (en) * | 2014-03-31 | 2017-01-24 | Automation Controls & Engineering, LLC | Flexible automation cell for performing secondary operations in concert with a machining center and roll check operations |
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2018
- 2018-06-12 CN CN201810600037.6A patent/CN108994395B/en active Active
Patent Citations (7)
| 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 |
| 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 |
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| Publication number | Publication date |
|---|---|
| CN108994395A (en) | 2018-12-14 |
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