CN112873196A - Feeding and discharging manipulator control system for copper pipe production - Google Patents
Feeding and discharging manipulator control system for copper pipe production Download PDFInfo
- Publication number
- CN112873196A CN112873196A CN202110095345.XA CN202110095345A CN112873196A CN 112873196 A CN112873196 A CN 112873196A CN 202110095345 A CN202110095345 A CN 202110095345A CN 112873196 A CN112873196 A CN 112873196A
- Authority
- CN
- China
- Prior art keywords
- motor
- fixedly connected
- shaped
- copper pipe
- plate
- 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.)
- Pending
Links
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 title claims abstract description 43
- 229910052802 copper Inorganic materials 0.000 title claims abstract description 43
- 239000010949 copper Substances 0.000 title claims abstract description 43
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 31
- 238000007599 discharging Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Images
Classifications
-
- 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
- B25J9/123—Linear actuators
-
- 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
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
-
- 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
- B25J9/126—Rotary actuators
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Metal Extraction Processes (AREA)
Abstract
The invention discloses a feeding and discharging manipulator control system for copper pipe production, which comprises a supporting beam, wherein a strip-shaped plate is fixedly connected to the top of the supporting beam, the outer wall of the strip-shaped plate is connected with a U-shaped seat in a sliding mode, the bottom of the strip-shaped plate is fixedly connected with a first rack, the side wall of the U-shaped seat is fixedly connected with a first motor, the top surface of the U-shaped seat is fixedly connected with a second motor, the output end of the first motor is connected with a first gear in a shaft connection mode, the top of the second motor is connected with a telescopic mechanism in a transmission mode, a lifting mechanism is installed on the telescopic mechanism, and a rotary clamping mechanism is installed on the lifting. The copper pipe feeding and discharging device solves the problems that in the copper pipe production and processing process, at least one worker is required to be arranged on each station or each processing device to feed and discharge the copper pipe, so that the labor cost for copper pipe production is high, and the feeding and discharging efficiency is low.
Description
Technical Field
The invention relates to the technical field of copper pipe production, in particular to a feeding and discharging manipulator control system for copper pipe production.
Background
In the prior art, in the production and processing process of copper pipes, generally, at least one worker needs to be arranged on each station or each processing device to feed and discharge the copper pipes, so that the labor cost for copper pipe production is high, and the feeding and discharging efficiency is low, and therefore the feeding and discharging manipulator control system for copper pipe production is invented.
Disclosure of Invention
In order to solve the problems that in the production and processing process of copper pipes, generally, at least one worker needs to be arranged on each station or each processing device to load and unload the copper pipes, so that the labor cost of copper pipe production is high, and the efficiency of loading and unloading is low, the invention aims to provide a loading and unloading manipulator control system for copper pipe production.
In order to achieve the purpose, the invention adopts the following technical scheme: a feeding and discharging manipulator control system for copper pipe production comprises a supporting beam, wherein a strip-shaped plate is fixedly connected to the top of the supporting beam, a U-shaped seat is connected to the outer wall of the strip-shaped plate in a sliding mode, a first rack is fixedly connected to the bottom of the supporting beam, a first motor is fixedly connected to the side wall of the U-shaped seat, a second motor is fixedly connected to the top of the U-shaped seat, the output end of the first motor is connected with a first gear in a shaft mode, the top of the second motor is connected with a telescopic mechanism in a transmission mode, a lifting mechanism is installed on the telescopic mechanism, and a rotary clamping mechanism is installed;
the telescopic mechanism comprises a U-shaped guide rail, the inner wall of the U-shaped guide rail is connected with a T-shaped telescopic plate in a sliding mode, the side wall of the U-shaped guide rail is fixedly connected with a third motor, the side wall, close to the bottom, of the T-shaped telescopic plate is fixedly connected with a guide strip, the bottom of the T-shaped telescopic plate is fixedly connected with a second rack, and the output end of the third motor is connected with a second gear in a shaft mode;
the lifting mechanism comprises a connecting plate, the top of the connecting plate is fixedly connected with a hydraulic cylinder, the bottom of the hydraulic cylinder is a telescopic end, the bottom of the telescopic end is fixedly connected with a lifting plate arranged below the connecting plate, and the top of the lifting plate is fixedly connected with a vertical rod;
the rotary clamping mechanism comprises a fourth motor, the output end of the fourth motor is connected with a rectangular plate in a shaft mode, and the side wall of the rectangular plate is symmetrically and fixedly connected with two pneumatic clamping jaws.
Preferably, the first gear is arranged inside the U-shaped seat and is meshed with the first rack.
Preferably, the opening direction of the U-shaped guide rail is arranged upwards, and the bottom of the U-shaped guide rail is connected with the output end of the second motor in a shaft mode.
Preferably, the top surface of T type expansion plate and U type guide rail to and the inner wall are sliding connection, the inner wall of U type guide rail is seted up and is sliding connection's bar groove with the gib block.
Preferably, the connecting plate is detachably connected with the T-shaped expansion plate through bolts, and the vertical rod vertically slides upwards to penetrate through the connecting plate.
Preferably, the fourth motor is arranged horizontally, and a motor base fixedly connected with the base surface of the lifting plate is fixedly arranged at the bottom of the fourth motor.
Preferably, the second gear is located inside the U-shaped rail and is engaged with the second rack.
Compared with the prior art, the invention has the following beneficial effects: a plurality of copper pipe production stations or processing equipment can be arranged on two sides of the supporting beam, the first motor drives the first gear to rotate, the U-shaped seat slides on the strip-shaped plate under the coordination of the first rack, and the rotary clamping mechanism can be driven to reach different copper pipe production stations or processing equipment; the third motor drives the second gear to rotate, under the coordination of the second rack, the T-shaped expansion plate slides on the U-shaped guide rail, the rotary clamping mechanism can be driven to enter a copper pipe production station or processing equipment, the hydraulic cylinder drives the lifting plate to descend, so that the pneumatic clamping jaw reaches a workpiece, then the pneumatic clamping jaw clamps a copper pipe workpiece and lifts the copper pipe workpiece, the expansion mechanism drives the copper pipe workpiece to leave the copper pipe production station or processing equipment, then the second motor drives the expansion mechanism to rotate, and then the copper pipe is transferred to the next station to be loaded or directly loaded through the movement of the U-shaped seat; the fourth motor drives the rectangular plate to rotate, and can be used for feeding and discharging steel pipe workpieces in the vertical direction or the horizontal direction.
Drawings
The invention is described in further detail below with reference to the following figures and detailed description:
FIG. 1 is a schematic overall structure of the present invention;
FIG. 2 is a schematic view of the interior of the U-shaped seat of the present invention;
fig. 3 is a schematic structural diagram of the telescopic mechanism of the present invention.
In the figure: 1-supporting beam, 2-strip-shaped plate, 3-U-shaped seat, 4-first rack, 5-first motor, 6-second motor, 7-first gear, 8-telescoping mechanism, 9-lifting mechanism, 10-rotary clamping mechanism, 11-U-shaped guide rail, 12-T-shaped telescoping plate, 13-third motor, 14-guide bar, 15-connecting plate, 16-hydraulic cylinder, 17-lifting plate, 18-upright rod, 19-fourth motor, 20-rectangular plate, 21-pneumatic clamping jaw, 22-second rack and 23-second gear.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1 to 3. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The invention provides a technical scheme that: a feeding and discharging manipulator control system for copper pipe production comprises a supporting beam 1, wherein the top of the supporting beam 1 is fixedly connected with a strip-shaped plate 2, the outer wall of the strip-shaped plate 2 is connected with a U-shaped seat 3 in a sliding mode, the bottom of the strip-shaped plate 2 is fixedly connected with a first rack 4, the side wall of the U-shaped seat 3 is fixedly connected with a first motor 5, the top surface of the U-shaped seat 3 is fixedly connected with a second motor 6, the output end of the first motor 5 is connected with a first gear 7 in a shaft mode, the top of the second motor 6 is connected with a telescopic mechanism 8 in a transmission mode, a lifting mechanism 9 is installed on the telescopic mechanism 8, and a rotary clamping;
the telescopic mechanism 8 comprises a U-shaped guide rail 11, the inner wall of the U-shaped guide rail 11 is connected with a T-shaped telescopic plate 12 in a sliding mode, the side wall of the U-shaped guide rail 11 is fixedly connected with a third motor 13, the side wall, close to the bottom, of the T-shaped telescopic plate 12 is fixedly connected with a guide strip 14, the bottom of the T-shaped telescopic plate is fixedly connected with a second rack 22, and the output end of the third motor 13 is connected with a second gear 23 in a shaft mode;
the lifting mechanism 9 comprises a connecting plate 15, a hydraulic cylinder 16 is fixedly connected to the top of the connecting plate 15, the bottom of the hydraulic cylinder 16 is a telescopic end, the bottom of the telescopic end is fixedly connected with a lifting plate 17 arranged below the connecting plate 15, and the top of the lifting plate 17 is fixedly connected with an upright rod 18;
the rotary clamping mechanism 10 comprises a fourth motor 19, the output end of the fourth motor 19 is connected with a rectangular plate 20 in a shaft mode, and two pneumatic clamping jaws 21 are symmetrically and fixedly connected to the side wall of the rectangular plate 20.
The first gear 7 is arranged inside the U-shaped seat 3 and is meshed with the first rack 4.
The opening direction of the U-shaped guide rail 11 is arranged upwards, and the bottom of the U-shaped guide rail is connected with the output end of the second motor 6 in a shaft mode.
T type expansion plate 12 and U type guide rail 11's top surface to and the inner wall is sliding connection, the inner wall of U type guide rail 11 is seted up and is sliding connection's bar groove with gib block 14.
The connecting plate 15 is detachably connected with the T-shaped expansion plate 12 through bolts, and the upright rods 18 vertically and upwards slide through the connecting plate 15.
The fourth motor 19 is arranged horizontally, and a motor base fixedly connected with the base surface of the lifting plate 17 is fixedly arranged at the bottom of the fourth motor.
The second gear 23 is located inside the U-shaped rail 11 and is intermeshed with the second rack 22.
When the copper pipe production device is used, a plurality of copper pipe production stations or processing equipment can be arranged on two sides of the supporting beam 1, the first motor 5 drives the first gear 7 to rotate, the U-shaped seat 3 slides on the strip-shaped plate 2 under the coordination of the first rack 4, and the rotary clamping mechanism 10 can be driven to reach different copper pipe production stations or processing equipment; the third motor 13 drives the second gear 23 to rotate, under the coordination of the second rack 22, the T-shaped expansion plate 12 slides on the U-shaped guide rail 11, the rotary clamping mechanism 10 can be driven to enter a copper pipe production station or processing equipment, the hydraulic cylinder 16 drives the lifting plate 17 to descend, so that the pneumatic clamping jaw 21 reaches a workpiece, then the pneumatic clamping jaw 21 clamps the copper pipe workpiece and lifts the copper pipe workpiece, the expansion mechanism 8 drives the copper pipe workpiece to leave the copper pipe production station or processing equipment, then the second motor 6 drives the expansion mechanism 8 to rotate, and then the copper pipe is transferred to the next station to be fed or directly fed through the movement of the U-shaped seat 3; the fourth motor 19 drives the rectangular plate 20 to rotate, so that the steel pipe workpiece in the vertical direction or the horizontal direction can be loaded and unloaded.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (7)
1. The utility model provides a copper pipe production is with feeding and discharging manipulator control system, is including a supporting beam (1), its characterized in that: the top of the supporting beam (1) is fixedly connected with a strip-shaped plate (2), the outer wall of the strip-shaped plate (2) is connected with a U-shaped seat (3) in a sliding mode, the bottom of the supporting beam is fixedly connected with a first rack (4), the side wall of the U-shaped seat (3) is fixedly connected with a first motor (5), the top surface of the U-shaped seat is fixedly connected with a second motor (6), the output end of the first motor (5) is connected with a first gear (7) in a shaft connection mode, the top of the second motor (6) is connected with a telescopic mechanism (8) in a transmission mode, a lifting mechanism (9) is installed on the telescopic mechanism (8), and a rotary clamping mechanism (10) is;
the telescopic mechanism (8) comprises a U-shaped guide rail (11), the inner wall of the U-shaped guide rail (11) is connected with a T-shaped telescopic plate (12) in a sliding mode, the side wall of the U-shaped guide rail (11) is fixedly connected with a third motor (13), the side wall, close to the bottom, of the T-shaped telescopic plate (12) is fixedly connected with a guide strip (14), the bottom of the T-shaped telescopic plate is fixedly connected with a second rack (22), and the output end of the third motor (13) is connected with a second gear (23) in a;
the lifting mechanism (9) comprises a connecting plate (15), the top of the connecting plate (15) is fixedly connected with a hydraulic cylinder (16), the bottom of the hydraulic cylinder (16) is a telescopic end, the bottom of the telescopic end is fixedly connected with a lifting plate (17) arranged below the connecting plate (15), and the top of the lifting plate (17) is fixedly connected with an upright rod (18);
rotatory fixture (10) is including fourth motor (19), the output coupling of fourth motor (19) has rectangular plate (20), two pneumatic clamping jaw (21) of the equal symmetry fixedly connected with of lateral wall of rectangular plate (20).
2. The feeding and discharging manipulator control system for copper pipe production according to claim 1, wherein: the first gear (7) is arranged inside the U-shaped seat (3) and is meshed with the first rack (4).
3. The feeding and discharging manipulator control system for copper pipe production according to claim 1, wherein: the opening direction of the U-shaped guide rail (11) is arranged upwards, and the bottom of the U-shaped guide rail is connected with the output end of the second motor (6) in a shaft mode.
4. The feeding and discharging manipulator control system for copper pipe production according to claim 1, wherein: the top surface of T type expansion plate (12) and U type guide rail (11) to and the inner wall are sliding connection, the inner wall of U type guide rail (11) is seted up and is sliding connection's bar groove with gib block (14).
5. The feeding and discharging manipulator control system for copper pipe production according to claim 1, wherein: the connecting plate (15) is detachably connected with the T-shaped expansion plate (12) through bolts, and the vertical upright rod (18) vertically slides upwards to penetrate through the connecting plate (15).
6. The feeding and discharging manipulator control system for copper pipe production according to claim 1, wherein: the fourth motor (19) is horizontally arranged, and a motor base fixedly connected with the base surface of the lifting plate (17) is fixedly arranged at the bottom of the fourth motor.
7. The feeding and discharging manipulator control system for copper pipe production according to claim 1, wherein: the second gear (23) is positioned inside the U-shaped guide rail (11) and is meshed with the second rack (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110095345.XA CN112873196A (en) | 2021-01-25 | 2021-01-25 | Feeding and discharging manipulator control system for copper pipe production |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110095345.XA CN112873196A (en) | 2021-01-25 | 2021-01-25 | Feeding and discharging manipulator control system for copper pipe production |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112873196A true CN112873196A (en) | 2021-06-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110095345.XA Pending CN112873196A (en) | 2021-01-25 | 2021-01-25 | Feeding and discharging manipulator control system for copper pipe production |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112873196A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479634A (en) * | 2021-07-21 | 2021-10-08 | 山东建安实业有限公司 | Feeding device for polyethylene gas pipeline processing |
| CN113620064A (en) * | 2021-07-21 | 2021-11-09 | 佛山市金博特机械有限公司 | Ceramic tile processing stamping mechanical equipment |
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| US20030156768A1 (en) * | 2002-02-19 | 2003-08-21 | Nippon Thompson Co., Ltd. | Linear motion guide unit |
| JP2005279892A (en) * | 2004-03-30 | 2005-10-13 | Sharp Corp | Transferring device |
| CH697684B1 (en) * | 2005-09-13 | 2009-01-15 | Triag | Multiple clamping device for a machining machine. |
| CN104985592A (en) * | 2015-07-17 | 2015-10-21 | 付建生 | Five-axis linkage robot |
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-
2021
- 2021-01-25 CN CN202110095345.XA patent/CN112873196A/en active Pending
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| JP2005279892A (en) * | 2004-03-30 | 2005-10-13 | Sharp Corp | Transferring device |
| CH697684B1 (en) * | 2005-09-13 | 2009-01-15 | Triag | Multiple clamping device for a machining machine. |
| CN104985592A (en) * | 2015-07-17 | 2015-10-21 | 付建生 | Five-axis linkage robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479634A (en) * | 2021-07-21 | 2021-10-08 | 山东建安实业有限公司 | Feeding device for polyethylene gas pipeline processing |
| CN113620064A (en) * | 2021-07-21 | 2021-11-09 | 佛山市金博特机械有限公司 | Ceramic tile processing stamping mechanical equipment |
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Application publication date: 20210601 |