CN109910035A - A kind of thin-wall barrel flexibility shifting mechanical arm - Google Patents
A kind of thin-wall barrel flexibility shifting mechanical arm Download PDFInfo
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- CN109910035A CN109910035A CN201910270298.0A CN201910270298A CN109910035A CN 109910035 A CN109910035 A CN 109910035A CN 201910270298 A CN201910270298 A CN 201910270298A CN 109910035 A CN109910035 A CN 109910035A
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- strut
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- clamping jaw
- wall barrel
- swinging frame
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- 230000006835 compression Effects 0.000 claims description 13
- 238000007906 compression Methods 0.000 claims description 13
- 239000004677 Nylon Substances 0.000 claims description 6
- 229920001778 nylon Polymers 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 230000009466 transformation Effects 0.000 abstract description 3
- 238000003466 welding Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 2
- 230000000994 depressogenic effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The invention discloses a kind of thin-wall barrel shifting mechanical arms, including fixing seat, swinging frame, turntable, gripping manipulator, swinging reduction motor is arranged in the fixing seat top, swinging frame is arranged in fixing seat lower part, swinging reduction motor is connected by chain wheel set with swinging frame, the swinging frame lower part sets gradually turntable, gripping manipulator, and the turntable is connected with rotation decelerating motor, and the gripping manipulator includes disk body seat, pneumatic self-locking clamping jaw, driving decelerating motor.The present invention can effectively solve the problems, such as thin-wall barrel lifting transfer process middle cylinder body many attitude transformation, position by adjusting pneumatic self-locking clamping jaw is suitable for the cylinder of multiple diameter, pneumatic self-locking clamping jaw during transfer can retaining clip always lock status, effectively prevent cylinder to fall off.Structure of the invention is compact, ingenious in design, and high reliablity reduces human cost, improves production efficiency, it can be achieved that cylinder moves appearance transfer certainly.
Description
Technical field
The invention belongs to the technical field of Barrel hoisting shifting mechanical arm more particularly to a kind of thin-wall barrel flexibility transfer machines
The technical field of tool hand.
Background technique
The process of thin-wall barrel is needed by multiple working procedures such as edge rolling, welding, full circle, suits, is led between each process
It crosses lifting transfer link to be mutually connected, well known lifting method for shifting is manually to be hung by simple and easy hoisting fixture or bar
Dress, simple and easy hoisting fixture is that the cylinder top edge that will be stood up is evenly distributed with multiple groups clamp, carries out lifting transfer using lifting instrument；Bar
Lifting is to be horizontally arranged cylinder, the sunpender for being longer than cylinder is passed through cylinder, sunpender two sides are connected with lifting instrument to be lifted
Transfer, both lifting method for shifting require manually to participate in, time-consuming and laborious, and are unable to satisfy the automatic welding of thin-wall barrel
Process middle cylinder body is automatically shifted to vertical transfer form feeding by horizontal positioned, or by vertical transfer cylinder automatic conversion
To the feeding form of horizontal positioned cylinder.
Summary of the invention
The purpose of the present invention is to provide a kind of thin-wall barrel flexibility shifting mechanical arms, can effectively solve thin-wall barrel lifting
The problem of transfer process middle cylinder body many attitude converts, while the present invention can be adapted to by adjusting the position of pneumatic self-locking clamping jaw
The cylinder of different-diameter, pneumatic self-locking clamping jaw during transfer can retaining clip always lock status, effectively prevent cylinder to fall off, this
Inventive structure is compact, ingenious in design, and high reliablity reduces human cost, improves, it can be achieved that cylinder moves appearance transfer certainly
Production efficiency.
The technical problems to be solved by the invention are realized using following technical scheme.
A kind of thin-wall barrel flexibility shifting mechanical arm, including fixing seat, swinging frame, turntable, gripping manipulator, it is described solid
Swinging reduction motor is arranged in reservation top, and swinging frame is arranged in fixing seat lower part, and swinging reduction motor passes through chain wheel set and swinging frame
It is connected, the swinging frame lower part sets gradually turntable, gripping manipulator, and the turntable is connected with rotation decelerating motor
It connects；The gripping manipulator includes disk body seat, pneumatic self-locking clamping jaw, driving decelerating motor, and the driving decelerating motor is fixed on
On disk body seat, central axis, the driving geared motor output shaft end setting input bevel gear is arranged in disk body seat center；It is described
It is coaxially disposed driven wheel of differential, lower end bevel gear on central axis, is evenly equipped with several silks along disk body seat radius on the disk body seat
Axle head bevel gear is arranged in one end of bar, screw rod nearly disk body seat center, and the input bevel gear is meshed with driven wheel of differential,
The lower end bevel gear is meshed with several uniformly distributed axle head bevel gears；Nut, the nut and gas are set on the screw rod
Self-locking clamping jaw is moved to be connected.
The pneumatic self-locking clamping jaw includes strut, strut, connecting rod, swing rod, and the strut includes the first strut and second
Bar, first strut one end are connected with strut, and the other end is connected with the second strut；Described connecting rod one end and compression cylinder
It is connected, the other end and the second strut, swing rod are hinged altogether, and connecting plate, the connecting plate lower end setting is arranged in described swing rod one end
Briquetting, the swing rod other end are connected with strut.
Nylon protection pad is arranged in the strut side.
When the invention works, this shifting mechanical arm is moved to the top of the thin-wall barrel to transfer first, then basis
The barrel dliameter of thin-wall barrel to transfer adjusts the position of pneumatic self-locking clamping jaw so that several pneumatic self-locking jaw shapeds at folder
The barrel dliameter for holding diameter and thin-wall barrel is adapted.The position adjustment of pneumatic self-locking clamping jaw is as follows: driving decelerating motor starting,
The input bevel gear rotation that driving geared motor output shaft end is set is driven, the driven wheel of differential being engaged with rotates with it,
Driven wheel of differential drives central axis rotation, and the lower end bevel gear of centrally disposed axis lower part rotates synchronously, nibbles with lower end bevel gear
Several axle head bevel gears closed also rotate with it, and axle head bevel gear drives screw rod rotation, and the nut being arranged on screw rod drives
Pneumatic self-locking clamping jaw is mobile, realizes that the variable diameter of pneumatic self-locking clamping jaw is adjusted.
When the position of the clamping diameter needed for pneumatic self-locking clamping jaw is moved along screw rod, is adjusted to, compression cylinder compression is compressed
The cylinder rod of cylinder drives connecting rod one end to move down, and connecting rod pulls swing rod, strut mobile, and the first strut is connect with the second strut at this time
Place forms angle, and swing rod drives connecting plate lifting, and connecting plate drives briquetting sidesway, and briquetting and strut are detached from, and external drive drives
Entire shifting mechanical arm moves down, and gripping manipulator is moved down along the barrel wall of the thin-wall barrel to transfer, at this time the cylinder of thin-wall barrel
Between briquetting and strut, the nylon protection pad and the inner wall of the thin-wall barrel to transfer of strut side fit body wall, work as gas
When moving self-locking clamping jaw and dropping to clip position, the cylinder rod of compression cylinder jacking, compression cylinder drives connecting rod to move up, and connecting rod pulls
Swing rod, strut are mobile, and swing rod drives connecting plate decline, and connecting plate drives briquetting to clamp thin-wall barrel upper end, and then, outside is driven
The dynamic entire shifting mechanical arm of drive carries out transfer to thin-wall barrel according to the path of setting, at this time first of pneumatic self-locking clamping jaw
Bar and the second strut point-blank, by swing rod are depressed into hinged dead-centre position, and pneumatic self-locking clamping jaw is in clamping self-locking state,
It can prevent thin-wall barrel during transfer from falling off.
When thin-wall barrel needs to be adjusted to during transfer horizontality from vertical state or adjusts from horizontality
When to vertical state, swinging reduction motor starting drives swinging frame rotation by chain wheel set, and the swing angle range of swinging frame is
00~1800。
When needing to adjust position while welding during thin-wall barrel suit, rotation decelerating motor starting, turntable drives folder
Manipulator is taken to rotate, the rotating range of turntable is 00~3600。
The present invention can effectively solve the problems, such as thin-wall barrel lifting transfer process middle cylinder body many attitude transformation, pass through adjusting
The position of pneumatic self-locking clamping jaw is suitable for the cylinder of different-diameter, and pneumatic self-locking clamping jaw can keep clamping self-locking during transfer
State effectively prevent cylinder to fall off.Structure of the invention is compact, ingenious in design, and high reliablity is, it can be achieved that cylinder moves appearance shifting certainly
It carries, reduces human cost, improve production efficiency.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the partial sectional view of gripping manipulator.
Fig. 3 is that gripping manipulator internal gear is driven perspective view.
Fig. 4 is the cross-sectional view of pneumatic self-locking clamping jaw.
Fig. 5 is strut schematic diagram.
Wherein: 1. fixing seats；2. swinging reduction motor；3. chain wheel set；4. swinging frame；5. rotating decelerating motor；6. clamping
Manipulator；7. disk body seat；8. driving decelerating motor；9. inputting bevel gear；10. driven wheel of differential；11. lower end bevel gear；12. axis
End cone gear；13. screw rod；14. nut；16. pneumatic self-locking clamping jaw；17. strut；18. strut；18.1. the first strut；18.2.
Second strut；19. connecting rod；20. swing rod；21. connecting plate；22. briquetting；24. compression cylinder；25. nylon protection pad；30. turntable；
31. central axis.
Specific embodiment
Technical solution of the present invention is described in further detail below according to embodiment and attached drawing.
As shown in Figure 1, a kind of thin-wall barrel flexibility shifting mechanical arm, including fixing seat 1, swinging frame 4, turntable 30, folder
Manipulator 6 is taken, swinging reduction motor 2 is arranged in 1 top of fixing seat, and swinging frame 4 is arranged in 1 lower part of fixing seat, swings the electricity that slows down
Machine 2 is connected by chain wheel set 3 with swinging frame 4, and 4 lower part of swinging frame sets gradually turntable 30, gripping manipulator 6, institute
Turntable 30 is stated to be connected with rotation decelerating motor 5.
As shown in Figure 1, Figure 2, Figure 3 shows, the gripping manipulator 6 includes disk body seat 7, pneumatic self-locking clamping jaw 16, driving deceleration
Motor 8, the driving decelerating motor 8 are fixed on disk body seat 7, and central axis 31 is arranged in 7 center of disk body seat, and the driving subtracts
The output shaft end setting input bevel gear 9 of speed motor 8；Driven wheel of differential 10, lower end cone tooth are coaxially disposed on the central axis 31
Wheel 11 is evenly equipped with six roots of sensation screw rod 13, the one end at nearly 7 center of disk body seat of the screw rod 13 along 7 radius of disk body seat on the disk body seat 7
Axle head bevel gear 12 is set, and the input bevel gear 9 is meshed with driven wheel of differential 10, the lower end bevel gear 11 and uniformly distributed
Six axle head bevel gears 12 are meshed；Nut 14 is set on the screw rod 13, and the nut 14 is connected with pneumatic self-locking clamping jaw 16
It connects.
As shown in Figure 4, Figure 5, the pneumatic self-locking clamping jaw 16 includes strut 17, strut 18, connecting rod 19, swing rod 20, described
Strut 18 includes the first strut 18.1 and the second strut 18.2, and described first strut, 18.1 one end is connected with strut 17, another
End is connected with the second strut 18.2；Described 19 one end of connecting rod is connected with compression cylinder 24, the other end and the second strut 18.2,
Swing rod 20 is hinged altogether, and connecting plate 21 is arranged in described 20 one end of swing rod, and briquetting 22, the swing rod 20 is arranged in 21 lower end of connecting plate
The other end is connected with strut 17, and nylon protection pad 25 is arranged in 17 side of strut.
When the invention works, this shifting mechanical arm is moved to the top of the thin-wall barrel to transfer first, then basis
The barrel dliameter of thin-wall barrel to transfer adjusts the position of pneumatic self-locking clamping jaw 16, so that six pneumatic self-locking clamping jaws 16 were formed
The barrel dliameter for clamping diameter and thin-wall barrel is adapted.The position adjustment of pneumatic self-locking clamping jaw 16 is as follows: driving decelerating motor 8
Starting drives the input bevel gear 9 that driving 8 output shaft end of decelerating motor is arranged in rotate, the driven wheel of differential 10 being engaged with
It rotates with it, driven wheel of differential 10 drives central axis 31 to rotate, and the lower end bevel gear 11 of centrally disposed 31 lower part of axis is synchronous to be turned
Dynamic, six axle head bevel gears 12 engaged with lower end bevel gear 11 also rotate with it, and axle head bevel gear 12 drives screw rod 13 to rotate,
The nut 14 being arranged on screw rod 13 drives six pneumatic self-locking 16 synchronizing movings of clamping jaw, realizes the variable diameter of pneumatic self-locking clamping jaw 16
It adjusts.
Needed for six pneumatic self-locking clamping jaws 16 are moved along screw rod 13, are adjusted to when the position of clamping diameter, compression cylinder
The cylinder rod of 24 compressions, compression cylinder 24 drives 19 one end of connecting rod to move down, and connecting rod 19 pulls swing rod 20, strut 18 mobile, at this time
First strut 18.1 and 18.2 junction of the second strut form angle, and swing rod 20 drives connecting plate 21 to be lifted, and connecting plate 21 drives
22 sidesway of briquetting, briquetting 22 and strut 17 are detached from, and external drive drives entire shifting mechanical arm to move down, gripping manipulator 6 along to
The barrel wall of the thin-wall barrel of transfer moves down, and the barrel wall of thin-wall barrel is between briquetting 22 and strut 17 at this time, strut 17
The nylon protection pad 25 and the inner wall of the thin-wall barrel to transfer of side fit, when pneumatic self-locking clamping jaw 16 drops to clip position
When, compression cylinder 24 jacks, and the cylinder rod of compression cylinder 24 drives connecting rod 19 to move up, and connecting rod 19 pulls swing rod 20, strut 18 to move
Dynamic, swing rod 20 drives connecting plate 21 to decline, and connecting plate 21 drives briquetting 22 to clamp the upper end to the thin-wall barrel of transfer, with
Afterwards, external drive drives entire shifting mechanical arm to carry out transfer to thin-wall barrel according to the path of setting, at this time pneumatic self-locking clip
Swing rod 20 is depressed into hinged dead-centre position, pneumatically on same straight line by the first strut 18.1 and the second strut 18.2 of pawl 16
Self-locking clamping jaw 16 is in clamping self-locking state, can prevent thin-wall barrel during transfer from falling off.
When thin-wall barrel needs to be adjusted to during transfer horizontality from vertical state or adjusts from horizontality
When to vertical state, swinging reduction motor 2 starts, and passes through chain wheel set 3 and swinging frame 4 is driven to rotate, the swing angle model of swinging frame 4
Enclose is 00~1800。
When needing to adjust position while welding during thin-wall barrel suit, rotation decelerating motor 5 starts, and turntable 30 drives
Gripping manipulator 6 rotates, and the rotating range of turntable 30 is 00~3600。
The present invention can effectively solve the problems, such as thin-wall barrel lifting transfer process middle cylinder body many attitude transformation, pass through adjusting
The position of pneumatic self-locking clamping jaw is suitable for the cylinder of multiple diameter, and pneumatic self-locking clamping jaw can keep clamping self-locking during transfer
State effectively prevent cylinder to fall off.Structure of the invention is compact, ingenious in design, and high reliablity is, it can be achieved that cylinder moves appearance shifting certainly
It carries, reduces human cost, improve production efficiency.
Claims (3)
1. a kind of thin-wall barrel flexibility shifting mechanical arm, including fixing seat (1), swinging frame (4), turntable (30), clamping machinery
Hand (6), it is characterised in that: swinging reduction motor (2) are arranged in fixing seat (1) top, and swinging frame is arranged in fixing seat (1) lower part
(4), swinging reduction motor (2) is connected by chain wheel set (3) with swinging frame (4), and swinging frame (4) lower part sets gradually rotation
Turntable (30), gripping manipulator (6), the turntable (30) are connected with rotation decelerating motor (5)；The gripping manipulator
It (6) include disk body seat (7), pneumatic self-locking clamping jaw (16), driving decelerating motor (8), the driving decelerating motor (8) is fixed on disk
In housing (7), central axis (31) are arranged in disk body seat (7) center, driving decelerating motor (8) the output shaft end setting input
Bevel gear (9) is coaxially disposed driven wheel of differential (10), lower end bevel gear (11), the disk body seat (7) on the central axis (31)
On along disk body seat (7) radial direction be evenly equipped with several screw rods (13), the one end at nearly disk body seat (7) center of the screw rod (13) is set
Set axle head bevel gear (12), the input bevel gear (9) is meshed with driven wheel of differential (10), the lower end bevel gear (11) with
Several uniformly distributed axle head bevel gears (12) are meshed；Nut (14) are set on the screw rod (13), the nut (14) and gas
Self-locking clamping jaw (16) is moved to be connected.
2. thin-wall barrel flexibility shifting mechanical arm according to claim 1, it is characterised in that: the pneumatic self-locking clamping jaw
(16) include strut (17), strut (18), connecting rod (19), swing rod (20), the strut (18) include the first strut (18.1) and
Second strut (18.2), described first strut (18.1) one end are connected with strut (17), the other end and the second strut (18.2)
It is connected；Described connecting rod (19) one end is connected with compression cylinder (24), and the other end and the second strut (18.2), swing rod (20) are altogether
Hingedly；Connecting plate (21) are arranged in described swing rod (20) one end, and briquetting (22) are arranged in connecting plate (21) lower end, the swing rod
(20) other end is connected with strut (17).
3. thin-wall barrel flexibility shifting mechanical arm according to claim 1, it is characterised in that: strut (17) side is set
Set nylon protection pad (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910270298.0A CN109910035A (en) | 2019-04-04 | 2019-04-04 | A kind of thin-wall barrel flexibility shifting mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910270298.0A CN109910035A (en) | 2019-04-04 | 2019-04-04 | A kind of thin-wall barrel flexibility shifting mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN109910035A true CN109910035A (en) | 2019-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910270298.0A Pending CN109910035A (en) | 2019-04-04 | 2019-04-04 | A kind of thin-wall barrel flexibility shifting mechanical arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111017548A (en) * | 2019-12-28 | 2020-04-17 | 芜湖固高自动化技术有限公司 | Casing transplanting device with industrial robot |
| CN111017549A (en) * | 2019-12-28 | 2020-04-17 | 芜湖固高自动化技术有限公司 | Unloading device on single-control flexible convertible ring |
| CN115402557A (en) * | 2022-11-01 | 2022-11-29 | 山东华唐环保科技有限公司 | Full-automatic cover opening and closing mechanical arm for collecting barrel |
| CN115415824A (en) * | 2022-11-07 | 2022-12-02 | 中国航发沈阳黎明航空发动机有限责任公司 | Flexible clamping shape-preserving device suitable for automatic drilling and riveting of thin-wall cylinder section |
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| JP2009291874A (en) * | 2008-06-04 | 2009-12-17 | Kansai Electric Power Co Inc:The | Joint device, robot arm, and finger unit |
| CN102126134A (en) * | 2011-04-11 | 2011-07-20 | 北京科技大学 | Five-axis five-linkage inversion type turn-mill composite machining device |
| CN102179812A (en) * | 2011-04-01 | 2011-09-14 | 北京邮电大学 | Ball-shaped robot used for detection |
| CN103539335A (en) * | 2013-09-16 | 2014-01-29 | 石家庄陆源机械制造有限公司 | Program control type bottle making machine |
| JP2016128708A (en) * | 2015-01-09 | 2016-07-14 | キヤノン株式会社 | Oscillation type speed reducer and robot arm |
| CN209903232U (en) * | 2019-04-04 | 2020-01-07 | 中船重工鹏力（南京）智能装备系统有限公司 | Flexible transferring manipulator for thin-wall cylinder |
-
2019
- 2019-04-04 CN CN201910270298.0A patent/CN109910035A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009291874A (en) * | 2008-06-04 | 2009-12-17 | Kansai Electric Power Co Inc:The | Joint device, robot arm, and finger unit |
| CN102179812A (en) * | 2011-04-01 | 2011-09-14 | 北京邮电大学 | Ball-shaped robot used for detection |
| CN102126134A (en) * | 2011-04-11 | 2011-07-20 | 北京科技大学 | Five-axis five-linkage inversion type turn-mill composite machining device |
| CN103539335A (en) * | 2013-09-16 | 2014-01-29 | 石家庄陆源机械制造有限公司 | Program control type bottle making machine |
| JP2016128708A (en) * | 2015-01-09 | 2016-07-14 | キヤノン株式会社 | Oscillation type speed reducer and robot arm |
| CN209903232U (en) * | 2019-04-04 | 2020-01-07 | 中船重工鹏力（南京）智能装备系统有限公司 | Flexible transferring manipulator for thin-wall cylinder |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111017548A (en) * | 2019-12-28 | 2020-04-17 | 芜湖固高自动化技术有限公司 | Casing transplanting device with industrial robot |
| CN111017549A (en) * | 2019-12-28 | 2020-04-17 | 芜湖固高自动化技术有限公司 | Unloading device on single-control flexible convertible ring |
| CN111017549B (en) * | 2019-12-28 | 2021-08-17 | 芜湖固高自动化技术有限公司 | Unloading device on single-control flexible convertible ring |
| CN115402557A (en) * | 2022-11-01 | 2022-11-29 | 山东华唐环保科技有限公司 | Full-automatic cover opening and closing mechanical arm for collecting barrel |
| CN115415824A (en) * | 2022-11-07 | 2022-12-02 | 中国航发沈阳黎明航空发动机有限责任公司 | Flexible clamping shape-preserving device suitable for automatic drilling and riveting of thin-wall cylinder section |
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