CN204339434U - A kind of based on hydraulically powered Digit Control Machine Tool loading and unloading manipulator - Google Patents
A kind of based on hydraulically powered Digit Control Machine Tool loading and unloading manipulator Download PDFInfo
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- CN204339434U CN204339434U CN201420280751.9U CN201420280751U CN204339434U CN 204339434 U CN204339434 U CN 204339434U CN 201420280751 U CN201420280751 U CN 201420280751U CN 204339434 U CN204339434 U CN 204339434U
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Abstract
The utility model discloses a kind of based on hydraulically powered Digit Control Machine Tool loading and unloading manipulator, comprise horizontal extension Hydraulic Cylinder Pedestal Used, horizontal hydraulic cylinder supporting seat is provided with horizontal extension hydraulic cylinder, horizontal extension hydraulic cylinder connects mechanical arm wrist one end, driving device hand wrist is done linear telescopic and is moved back and forth, the mechanical arm wrist other end is provided with arm end effector, arm end effector captures workpiece to be processed and carries out the loading and unloading operation adding man-hour, arm end effector comprises piston, piston connects plunger piston fluid pressure cylinder, tooth bar one end in the middle of piston rod in piston connects, the middle tooth bar other end is placed in piston exterior and connects sector gear, sector rack connects manipulator finger, plunger piston fluid pressure cylinder drives middle tooth bar motion by promoting piston rod, thus drive sector rack to control manipulator finger folding.The beneficial effects of the utility model are the sealing problems adopting hydraulic mechanical hand can not produce source of the gas.
Description
Technical field
The utility model belongs to hydraulic efficiency manipulator technical field, relates to a kind of based on hydraulically powered Digit Control Machine Tool loading and unloading manipulator.
Background technology
Along with the propelling of suitability for industrialized production process, manufacturing more and more relies on from the high unmanned manufacturing works of change degree to carry out production line balance; In the production environment of high temperature, dust, strong, the large noise of radioactivity, manipulator is widely used; In manufacturing, manipulator has developed into an important component part in flexible manufacturing system and FMC FMC.Manipulator can replace the workpiece handling work of most of repeatability, Digit Control Machine Tool equipment can be made to form a flexible manufacturing system (FMS) or FMC, make the tempo increase of processing, save huge work transfer device, robot device is adapted to especially, and machinery is extensive, the production of automatic flow simultaneously.But on the production line of most of factory at home at present, Digit Control Machine Tool workpiece loading and unloading is still by manually completing, and labour intensity is large, production efficiency is low, and the operational security of workman is not high yet.In addition, domestic robot device adopts the light-duty machinery hand of pneumatic control mostly, research is also considered the flexibility of manipulator more, and when processing larger workpiece, the manipulator that light pneumatic controls cannot meet the repetition transport operation of comparatively large lower heavy industry part.Meanwhile, the sealing requirements of manipulator to source of the gas of pneumatic control is higher, is unfavorable for the actual needs of production scene.
For addressing this problem, according to the actual needs of factory's digital control processing production line, for the concrete technology requirement of production line, determine with the basic structure of the robot device of hydraulic-driven control, the mechanical property performing paw is calculated and analyzed, complete the design of hydraulic system and the calculating of hydraulic-driven power, and PLC control system is designed, achieve the design of whole manipulator function.
Utility model content
The purpose of this utility model is to provide a kind of based on hydraulically powered Digit Control Machine Tool loading and unloading manipulator, and the sealing requirements of manipulator to source of the gas solving existing pneumatic control is higher, is unfavorable for the problem of the actual needs of production scene.
The technical scheme that the utility model adopts comprises horizontal extension Hydraulic Cylinder Pedestal Used, horizontal hydraulic cylinder supporting seat is provided with horizontal extension hydraulic cylinder, horizontal extension hydraulic cylinder connects mechanical arm wrist one end, driving device hand wrist is done linear telescopic and is moved back and forth, the mechanical arm wrist other end is provided with arm end effector, arm end effector captures workpiece to be processed and carries out the loading and unloading operation adding man-hour, described arm end effector comprises piston, piston connects plunger piston fluid pressure cylinder, tooth bar one end in the middle of piston rod in piston connects, the middle tooth bar other end is placed in piston exterior and connects sector gear, sector rack connects manipulator finger, plunger piston fluid pressure cylinder drives middle tooth bar motion by promoting piston rod, thus drive sector rack to control manipulator finger folding.
The beneficial effects of the utility model are the sealing problems adopting hydraulic mechanical hand can not produce source of the gas.
Accompanying drawing explanation
Fig. 1 is the utility model robot manipulator structure schematic diagram;
Fig. 2 is the utility model arm end effector structural representation.
In figure, 1. horizontal extension Hydraulic Cylinder Pedestal Used, 2. mechanical arm wrist, 3. arm end effector, 4. piston, 5. piston rod, 6. middle tooth bar, 7. sector gear, 8. manipulator finger.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail.
The utility model comprises horizontal extension Hydraulic Cylinder Pedestal Used 1 as shown in Figure 1, horizontal hydraulic cylinder supporting seat 1 is provided with horizontal extension hydraulic cylinder, horizontal extension hydraulic cylinder connects mechanical arm wrist 2 one end, driving device hand wrist 2 is done linear telescopic and is moved back and forth, mechanical arm wrist 2 other end is provided with arm end effector 3, and arm end effector 3 captures the loading and unloading operation that workpiece to be processed carries out adding man-hour.
Further, described arm end effector 3 comprises piston 4, piston 4 connects plunger piston fluid pressure cylinder, piston rod 5 in piston 4 connects middle tooth bar 6 one end, middle tooth bar 6 other end is placed in piston 4 outside and connects sector gear 7, sector rack 7 connects manipulator finger 8, and plunger piston fluid pressure cylinder drives middle tooth bar 6 to move by promoting piston rod 5, thus drives sector rack 7 to control manipulator finger 8 folding.
The quality of the processing work of Manipulator Transportation of the present utility model is 30kg, and length is 500mm.Manipulator, when receiving operation element, first does rectilinear motion by mechanical arm and workpiece to be processed is carried out gripping, then does gyration by mechanical wrist part and workpiece to be processed is delivered to Digit Control Machine Tool processes.To be processed complete after, repeat this process, workpiece delivered to workpiece logistics automatic assembly line, reaches automatically to enter, the object of feed.
Four kinds of versions according to current industrial robot (mainly contain rectangular co-ordinate structure, circular cylindrical coordinate structure, spherical coordinates structure, four kinds, joint type structure), in conjunction with the requirement of automatic production line, manipulator mechanism selects circle coordinates form, makes whole manipulator have 3 frees degree, a rotation, two one-movement-freedom-degrees.The manipulator of circle coordinates form has that range of movement is large, accurate positioning, and frame for movement is simple.Consider the service load of manipulator and the working site environment factor to manipulator layout and the specific requirement of positioning precision and the control of computer, the revolution of manipulator waist drives with motor and realizes simultaneously.
Horizontal extension hydraulic cylinder adopts single-piston-rod hydraulic cylinder to be installed on horizontal extension Hydraulic Cylinder Pedestal Used 1, the linear telescopic that driving device hand wrist 2 makes arm moves back and forth, and namely performs paw capture the feeding, discharge operation that workpiece to be processed carries out adding man-hour by arm end effector 3.
The design of arm end effector 3: arm end performs 3 and can be described as again execution paw, is the critical component of grabbing workpiece feeding, discharge operation.Consider the grip size and execution reliability that perform paw, according to the requirement of Digit Control Machine Tool, grip size is 30kg, have employed the paw of pinion and-rack.Gear drive has the advantages such as transmission accuracy is high, reliable and stable, carry-over moment is large, the specific constructive form of paw as shown in Figure 2, under the effect of the piston rod 5 of piston 4, drive center tooth bar 6 on piston rod 5, middle tooth bar 6 drives sector gear 7 to rotate the opening and closing controlling manipulator finger 8 again.During design, consider that workpiece shapes is round steel type workpiece, be 30kg to the maximum according to workpiece weight, the impulse stroke of design manipulator finger 8 is 40mm, then can capture the round steel type workpiece that diameter is 80mm.When piston rod 5 is to left movement, point as clamped condition, when piston rod 5 moves right, point as releasing orientation, perform paw and put down workpiece, the driving force of piston rod 5 relies on hydraulic system to control.
The protracting of the utility model mechanical arm wrist position, retrude have employed horizontal extension hydraulic cylinder, perform the clamping of paw, open and have employed plunger piston fluid pressure cylinder.By to the analysis of manipulator mechanical property and calculating, robot device is simple and reliable, possesses the ability of crawl, carrying 30kg workpiece.Manipulator is made to reach the functional requirement of the automatic feeding, discharge of workpiece on production line.
The above is only to preferred embodiment of the present utility model, not any pro forma restriction is done to the utility model, every according to technical spirit of the present utility model to any simple modification made for any of the above embodiments, equivalent variations and modification, all belong in the scope of technical solutions of the utility model.
Claims (1)
1. one kind based on hydraulically powered Digit Control Machine Tool loading and unloading manipulator, it is characterized in that: comprise horizontal extension Hydraulic Cylinder Pedestal Used (1), (1) is provided with horizontal extension hydraulic cylinder to horizontal hydraulic cylinder supporting seat, horizontal extension hydraulic cylinder connects mechanical arm wrist (2) one end, driving device hand wrist (2) is done linear telescopic and is moved back and forth, mechanical arm wrist (2) other end is provided with arm end effector (3), arm end effector (3) captures workpiece to be processed and carries out the loading and unloading operation adding man-hour, described arm end effector (3) comprises piston (4), piston (4) connects plunger piston fluid pressure cylinder, tooth bar (6) one end in the middle of piston rod (5) in piston (4) connects, middle tooth bar (6) other end is placed in piston (4) outside and connects sector gear (7), sector rack (7) connects manipulator finger (8), plunger piston fluid pressure cylinder drives middle tooth bar (6) motion by promoting piston rod (5), thus drive sector rack (7) to control manipulator finger (8) folding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420280751.9U CN204339434U (en) | 2014-05-29 | 2014-05-29 | A kind of based on hydraulically powered Digit Control Machine Tool loading and unloading manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420280751.9U CN204339434U (en) | 2014-05-29 | 2014-05-29 | A kind of based on hydraulically powered Digit Control Machine Tool loading and unloading manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204339434U true CN204339434U (en) | 2015-05-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420280751.9U Expired - Fee Related CN204339434U (en) | 2014-05-29 | 2014-05-29 | A kind of based on hydraulically powered Digit Control Machine Tool loading and unloading manipulator |
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| Country | Link |
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| CN (1) | CN204339434U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710879A (en) * | 2016-04-13 | 2016-06-29 | 国家电网公司 | Intelligent package dismounting auxiliary system and method for electric energy meter paper box |
| CN107283407A (en) * | 2017-07-09 | 2017-10-24 | 洛阳德威机电科技有限公司 | A kind of design method of digital control hole drilling groover manipulator clamping device |
| CN107627140A (en) * | 2017-11-13 | 2018-01-26 | 曹向虎 | The loading and unloading method and loading and unloading manipulator of a kind of Digit Control Machine Tool |
| CN110216709A (en) * | 2018-03-01 | 2019-09-10 | 安徽凌坤智能科技有限公司 | A kind of improved mechanical paw |
| CN110253608A (en) * | 2019-07-23 | 2019-09-20 | 姚振 | A kind of novel crawl is held with a firm grip formula manipulator |
-
2014
- 2014-05-29 CN CN201420280751.9U patent/CN204339434U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105710879A (en) * | 2016-04-13 | 2016-06-29 | 国家电网公司 | Intelligent package dismounting auxiliary system and method for electric energy meter paper box |
| CN107283407A (en) * | 2017-07-09 | 2017-10-24 | 洛阳德威机电科技有限公司 | A kind of design method of digital control hole drilling groover manipulator clamping device |
| CN107627140A (en) * | 2017-11-13 | 2018-01-26 | 曹向虎 | The loading and unloading method and loading and unloading manipulator of a kind of Digit Control Machine Tool |
| CN110216709A (en) * | 2018-03-01 | 2019-09-10 | 安徽凌坤智能科技有限公司 | A kind of improved mechanical paw |
| CN110216709B (en) * | 2018-03-01 | 2023-02-17 | 安徽凌坤智能科技有限公司 | Improved mechanical paw |
| CN110253608A (en) * | 2019-07-23 | 2019-09-20 | 姚振 | A kind of novel crawl is held with a firm grip formula manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150520 Termination date: 20150529 |
|
| EXPY | Termination of patent right or utility model |