CN201098897Y - Manipulator capable of rotating work-piece - Google Patents

Manipulator capable of rotating work-piece Download PDF

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Publication number
CN201098897Y
CN201098897Y CNU2007200279104U CN200720027910U CN201098897Y CN 201098897 Y CN201098897 Y CN 201098897Y CN U2007200279104 U CNU2007200279104 U CN U2007200279104U CN 200720027910 U CN200720027910 U CN 200720027910U CN 201098897 Y CN201098897 Y CN 201098897Y
Authority
CN
China
Prior art keywords
workpiece
roller
gear
manipulator
worm
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.)
Expired - Fee Related
Application number
CNU2007200279104U
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Chinese (zh)
Inventor
耿宗亮
秦海港
刘玉梅
李波
Original Assignee
耿宗亮
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 耿宗亮 filed Critical 耿宗亮
Priority to CNU2007200279104U priority Critical patent/CN201098897Y/en
Application granted granted Critical
Publication of CN201098897Y publication Critical patent/CN201098897Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model discloses a machine hand for rotating the workpiece, which comprises a pair of mechanical paws; wherein the pair of mechanical paws are arranged on a support through a connecting rod mechanism and a transmission rotation mechanism is arranged in either mechanical paw for gripping. The transmission rotation mechanism comprises a rotational roller, a gear wheel, a worm wheel and a worm; the gear wheel and the worm wheel are joggled, and the worm wheel and the worm are connected; the rotational roller comprises a driving roller and a driven roller; the driving roller is connected with the gear wheel; the driven roller is arranged on the front end of the mechanical paws; the driving roller and driven roller in the two mechanical paws together form a revolute pair that clamps the workpiece. When the utility model is used, the clamping mechanism opens to the designated position to clamp a workpiece and then puts the workpiece to the anvil; then the control system transmits the workpiece to the driving roller; driven by the driving roller, the machine hand achieves a purpose of evenly forging by rotating the workpiece around the axes, which has the advantages of reasonable structure and convenient use, etc.

Description

The manipulator of rotatable workpiece
Technical field
The utility model discloses a kind of manipulator of rotatable workpiece, belongs to mechanical handing tool equipment manufacturing technology field.
Background technology
In forging industry, manipulator has replaced manually, finishes the work that repeatability is strong, working strength is big such as getting material, forging and pressing, blowing.The existing mechanical hand exists a lot of drawbacks, such as, it can not allow forging rotate on anvil block as manually-operated, the technological requirement of beating with the section of better meeting.So the processing of a lot of workpiece also wants artificial clamping to forge, and has increased workman's working strength.So need a kind of applied widelyly, manipulator that can rotational workpieces replaces hand labor.
Summary of the invention
At the deficiencies in the prior art, the utility model provides the manipulator of a kind of practicality rotatable workpiece safe, rational in infrastructure, simple to operate.
The utility model is achieved through the following technical solutions:
The utility model has a pair of mechanical paw, and wherein, described a pair of mechanical paw is rack-mount by linkage, is provided with to make it can grab the transmission rotating mechanism that closes in each mechanical paw.
Described transmission rotating mechanism is made up of rotary rollers, gear and worm gear, worm screw, gear is meshed with worm gear, worm gear is connected with worm screw, rotary rollers is made up of active roller and driven roller, initiatively roller is connected with gear, driven roller is installed in the front end of mechanical paw, two active roller and revolute pairs of blocking workpiece of the common composition of driven roller that mechanical paw is interior.
There is a gear hinged place of described manipulator paw and support.
The utility model support is the main body of manipulator, is the support of each parts.Roller is installed on the mechanical paw and can rotates freely by revolute pair, has four (three driven, an active).Power train is made up of series of gears and is installed between support and the mechanical paw, and link power control system and roller initiatively are used for transmitting motion.Grabbing and closing mechanism is a linkage, is installed on support and the mechanical paw, is used for realizing that grabbing of paw close.There is a gear at the pin joint place of mechanical paw on support, and it has realized the transmission of power on support and the paw.And this transfer mode has realized that paw opens under the different angles, the homogeny that motion is transmitted.
When the present invention uses, grab and close mechanism and under the effect of control system, open, to the assigned address holding workpiece.Piece-holder is good and be placed on the anvil block, and at this moment control system makes and moves through power train and be delivered to initiatively roller.Under the drive of active roller, workpiece is the axis rotation with the centre of gyration of self, realizes the purpose that evenly forges.Have advantages such as rational in infrastructure, easy to use.
Description of drawings
Fig. 1 looks half sectional view for master of the present utility model.
Wherein, 1, driven roller, 2, mechanical paw, 3, roller initiatively, 4, gear I, 5, gear II, 6, worm gear, 7, worm screw, 8, support, 9, linkage, 10, workpiece.
The specific embodiment
Embodiment: structure as shown in Figure 1, the utility model has a pair of mechanical paw 2, described a pair of mechanical paw 2 is installed on the support 8 by linkage 9, is provided with to make it can grab the transmission rotating mechanism that closes in each mechanical paw.The transmission rotating mechanism is made up of rotary rollers, gear and worm gear 6, worm screw 7, gear is meshed with worm gear, worm gear 6 is connected with worm screw 7, rotary rollers is made up of active roller and driven roller, initiatively roller 3 is connected with gear, driven roller is installed in the front end of mechanical paw, two active roller and revolute pairs of blocking workpiece of the common composition of driven roller that mechanical paw is interior.There is a gear hinged place of manipulator paw and support.
When manipulator was worked, linkage 9 opened two mechanical paws 2 under the effect of control system.Workpiece 10 to the assigned address clamping, under the effect of linkage 9, two paws are grabbed and are closed, and workpiece is delivered to down on the anvil block then.At this moment, the motion of control system is passed on the worm screw 7 with certain speed.Worm screw 7 drives the worm gear 6 with its engagement, and worm gear 6 begins rotation.Next move through gear II5 and gear I4, transmit motion to initiatively roller 3, at this moment initiatively roller 3 begins rotation.Under the frictional force effect between workpiece and the active roller 3, workpiece is subjected to turning moment.At this moment because other three support driven rollers 1 all are that revolute connects, so workpiece is easy to rotate with regard to wraparound commentaries on classics center.Finish forge after, control system is stopped the rotation worm screw 7, workpiece has just stopped rotation.At this moment mechanical paw 2 opens under the effect of linkage 9 workpiece is put down, and finishes the one action circulation.

Claims (3)

1, the manipulator of rotatable workpiece, it has a pair of mechanical paw, it is characterized in that: described a pair of mechanical paw is rack-mount by linkage, is provided with in one of them mechanical paw to make it can grab the transmission rotating mechanism that closes.
2, the manipulator of rotatable workpiece according to claim 1, it is characterized in that: described transmission rotating mechanism is made up of rotary rollers, gear and worm gear, worm screw, gear is meshed with worm gear, worm gear is connected with worm screw, rotary rollers is made up of active roller and driven roller, initiatively roller is connected with gear, driven roller is installed in the front end of mechanical paw, two revolute pairs that can block workpiece of the common composition of rotary rollers that mechanical paw is interior.
3, according to the manipulator of claims 1 described rotatable workpiece, it is characterized in that: there is a gear hinged place of described manipulator paw and support.
CNU2007200279104U 2007-09-14 2007-09-14 Manipulator capable of rotating work-piece Expired - Fee Related CN201098897Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU2007200279104U CN201098897Y (en) 2007-09-14 2007-09-14 Manipulator capable of rotating work-piece

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU2007200279104U CN201098897Y (en) 2007-09-14 2007-09-14 Manipulator capable of rotating work-piece

Publications (1)

Publication Number Publication Date
CN201098897Y true CN201098897Y (en) 2008-08-13

Family

ID=39935428

Family Applications (1)

Application Number Title Priority Date Filing Date
CNU2007200279104U Expired - Fee Related CN201098897Y (en) 2007-09-14 2007-09-14 Manipulator capable of rotating work-piece

Country Status (1)

Country Link
CN (1) CN201098897Y (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102848152A (en) * 2012-09-14 2013-01-02 湖北航天三江红林机电科技有限公司 Processing method of manipulators

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102848152A (en) * 2012-09-14 2013-01-02 湖北航天三江红林机电科技有限公司 Processing method of manipulators
CN102848152B (en) * 2012-09-14 2015-03-25 湖北航天三江红林机电科技有限公司 Processing method of manipulators

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Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
C19 Lapse of patent right due to non-payment of the annual fee
CF01 Termination of patent right due to non-payment of annual fee
LIC Patent licence contract for exploitation submitted for record

Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2009.3.23 TO 2014.3.22; CHANGE OF CONTRACT

Name of requester: JINAN DONGAO AUTO-CONTROL TECHNOLOGY CO., LTD.

Effective date: 20090915

EE01 Entry into force of recordation of patent licensing contract

Assignee: Jinan Dongao Automatic Control Technology Co., Ltd.

Assignor: Geng Zongliang

Contract fulfillment period: 2009.3.23 to 2014.3.22

Contract record no.: 2009370000283

Denomination of utility model: Manipulator capable of rotating work-piece

Granted publication date: 20080813

License type: Exclusive license

Record date: 20090915