CN203875677U

CN203875677U - Feeding and discharging manipulator

Info

Publication number: CN203875677U
Application number: CN201420183959.9U
Authority: CN
Inventors: 包文杰; 施国江
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-04-16
Filing date: 2014-04-16
Publication date: 2014-10-15
Anticipated expiration: 2024-04-16

Abstract

The utility model relates to a feeding and discharge manipulator. The feeding and discharge manipulator comprises a base, a big arm assembly, a small arm assembly, a wrist and a mechanical gripper. The feeding and discharge manipulator is characterized in that the lower end of the base is fixedly arranged on a required working platform; the lower end of the big arm assembly is connected with the base through a big arm base; the rear end of the small arm assembly is connected with a big arm through a small arm base; the interior of the wrist is connected with a small arm and the mechanical gripper through a ball-cage type cardan joint; a telescopic hydraulic cylinder is arranged in a sleeve of the mechanical gripper to drive the mechanical gripper; the big arm assembly is connected with a rotary table with a rotary support through the big arm base; a servo motor fixed to the outer side of the base is used for driving the rotary table to rotate; servo motors mounted on a left lug and a right lug of a driving arm base are used for driving the big arm and the small arm to swing; two of motors mounted on an elbow gearbox are used for driving the wrist to swing and rotate respectively; the mechanical gripper is connected with the wrist through bolts; a telescopic shaft of the hydraulic cylinder arranged in the mechanical gripper is relatively and fixedly connected with a stretching shaft of the mechanical gripper; the hydraulic cylinder drives the mechanical gripper to open and close. The feeding and discharge manipulator is easy to maintain, high in bearing capacity, simple and portable.

Description

A kind of loading and unloading manipulator

Technical field

The utility model relates to a kind of mechanical device of Digit Control Machine Tool loading and unloading, is specifically related to a kind of loading and unloading manipulator.

Background technology

The loading and unloading manipulator structure that Digit Control Machine Tool uses at home is at present spirit and its wrist part employing gear drive not, heavier, and joint is more fragile, is difficult to the power that provides larger.

Summary of the invention

The purpose of this utility model is to provide one loading and unloading manipulator more flexibly, the problem existing to solve existing machinery hand.

The purpose of this utility model can realize in the following manner: a kind of loading and unloading manipulator, include base, large arm component, little arm component, wrist and mechanical paw, it is characterized in that: base lower end is fixedly installed in needed workbench, large arm component lower end connects by large arm seat and base; forearm assembly rear end connects with large arm by little arm seat; the inner rzeppa joint that adopts of wrist connects forearm and mechanical paw, telescopic hydraulic cylinder is housed in the sleeve of mechanical paw and provides driving for it; Wherein large arm component is connected with the turntable supporting with revolution by large arm seat, and the rotation of turntable completes by the driven by servomotor that is fixed on chassis outer side; Big and small arms swings by being arranged on the driven by servomotor driving on two ears of arm seat left and right and completes; The swing of wrist and rotation complete by wherein two driven by motor that are arranged on ancon gear-box respectively; Mechanical paw and wrist adopt bolt-connection, and the telescopic shaft of the built-in hydraulic cylinder of mechanical paw is relative with mechanical paw tensile axis to be fixedly connected with, and the folding of mechanical paw is completed by Driven by Hydraulic Cylinder.

The present invention is easy to maintenance, and bearing capacity is strong, simple light.

Brief description of the drawings

Accompanying drawing 1 is overall structure schematic diagram of the present utility model.

Accompanying drawing 2 is the utility model six degree of freedom direction schematic diagrames.

Accompanying drawing 3 is wrist installation diagrams of the present utility model.

Accompanying drawing 4 is wrist cutaway views of the present utility model.

Detailed description of the invention

Be elaborated below in conjunction with the drawings and specific embodiments.

A kind of loading and unloading manipulator, include base (1), large arm component (2), little arm component (3), wrist (4) and mechanical paw (5), it is characterized in that: base (1) lower end is fixedly installed in needed workbench, large arm component (2) lower end connects by large arm seat and base; little arm component (3) rear end connects with large arm by little arm seat; the inner rzeppa joint that adopts of wrist (4) connects forearm and mechanical paw (5), in the sleeve of mechanical paw (5), telescopic hydraulic cylinder is housed and provides driving for it; Wherein large arm component (2) is connected with the turntable supporting with revolution by large arm seat, and the rotation of turntable completes by the driven by servomotor that is fixed on chassis outer side; Big and small arms swings by being arranged on the driven by servomotor driving on two ears of arm seat left and right and completes; The swing of wrist (4) and rotation complete by wherein two driven by motor that are arranged on ancon gear-box respectively; Mechanical paw (5) adopts bolt-connection with wrist (4), the telescopic shaft of the built-in hydraulic cylinder of mechanical paw (5) and relative being fixedly connected with of mechanical paw (5) tensile axis, and the folding of mechanical paw (5) is completed by Driven by Hydraulic Cylinder.

The shaft coupling 409 of wrist (4) is connected by rzeppa joint 404 with forearm central shaft 301 through the preformed hole of coupling box 413 front ends, and forearm central shaft 301 rotates and drives shaft coupling 409 to rotate, thereby realizes 360 o rotations of axle 6; Shaft coupling rear flange 405 and shaft coupling 409 clamp shaft coupling bearing 406 inner rings, and coupling flange 407 and coupling box 413 clamp shaft coupling bearing 406 outer rings, thereby realize relatively rotating of shaft coupling 409 and coupling box 413; Shaft coupling holder flange 403 connects firmly by shaft coupling holder 401 and forearm macro-axis 303, and in coupling box, shaft gear 402 is fixed on forearm central shaft by screw; Coupling box 413 and shaft coupling case lid 410 coordinate by coupling box bearing 411 and shaft coupling holder flange 403, also pass through screw attachment between coupling box 413 and shaft coupling case lid 410 simultaneously, and shaft coupling gear 412 connects firmly on coupling box 413 by screw; In shaft coupling gear 412 and coupling box, shaft gear 402 engages by gear, drives whole wrist 4 to swing in the time that the axis 302 of forearm 3 rotates, thereby realizes maximum 80 o of axle 5 to the swing of 90 o.

Claims

1. a loading and unloading manipulator, include base (1), large arm component (2), little arm component (3), wrist (4) and mechanical paw (5), it is characterized in that: base (1) lower end is fixedly installed in needed workbench, large arm component (2) lower end connects by large arm seat and base; little arm component (3) rear end connects with large arm by little arm seat; the inner rzeppa joint that adopts of wrist (4) connects forearm and mechanical paw (5), in the sleeve of mechanical paw (5), telescopic hydraulic cylinder is housed and provides driving for it; Wherein large arm component (2) is connected with the turntable supporting with revolution by large arm seat, and the rotation of turntable completes by the driven by servomotor that is fixed on chassis outer side; Big and small arms swings by being arranged on the driven by servomotor driving on two ears of arm seat left and right and completes; The swing of wrist (4) and rotation complete by wherein two driven by motor that are arranged on ancon gear-box respectively; Mechanical paw (5) adopts bolt-connection with wrist (4), the telescopic shaft of the built-in hydraulic cylinder of mechanical paw (5) and relative being fixedly connected with of mechanical paw (5) tensile axis, and the folding of mechanical paw (5) is completed by Driven by Hydraulic Cylinder; The shaft coupling (409) of described wrist (4) is connected by rzeppa joint (404) with forearm central shaft (301) through the preformed hole of coupling box (413) front end, and forearm central shaft (301) rotates and drives shaft coupling (409) to rotate; Shaft coupling rear flange (405) and shaft coupling (409) clamp shaft coupling bearing (406) inner ring, and coupling flange (407) and coupling box (413) clamp shaft coupling bearing (406) outer ring; Shaft coupling holder flange (403) connects firmly by shaft coupling holder (401) and forearm macro-axis (303), and shaft gear in coupling box (402) is fixed on forearm central shaft by screw; Coupling box (413) and shaft coupling case lid (410) coordinate by coupling box bearing (411) and shaft coupling holder flange (403), between coupling box (413) and shaft coupling case lid (410), also pass through screw attachment, shaft coupling gear (412) connects firmly on coupling box (413) by screw simultaneously; In shaft coupling gear (412) and coupling box, shaft gear (402) engages by gear.