CN206982693U - A kind of gantry frame type five degree of freedom abrasive water-jet Space processing manipulator - Google Patents
A kind of gantry frame type five degree of freedom abrasive water-jet Space processing manipulator Download PDFInfo
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- CN206982693U CN206982693U CN201720808856.0U CN201720808856U CN206982693U CN 206982693 U CN206982693 U CN 206982693U CN 201720808856 U CN201720808856 U CN 201720808856U CN 206982693 U CN206982693 U CN 206982693U
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- degree
- gantry
- abrasive
- manipulator
- portal frame
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Abstract
A kind of gantry frame type five degree of freedom abrasive water-jet Space processing manipulator is the utility model is related to, based on portal frame, manipulator is combined with Abrasive Waterjet Machining Technology, improves flexibility and the efficiency of water jet machining.The gantry frame type five degree of freedom abrasive water-jet Space processing manipulator includes portal frame workbench, abrasive waterjet nozzle, wrist, forearm, large arm, support, sliding block, portal frame crossbeam, gantry pillar；The utility model advantage is that a kind of gantry frame type five degree of freedom abrasive water-jet Space processing robot manipulator structure is ingenious, manipulator and water-jet technology are combined, realize processing of the water jet to plane, curved surface and workpiece inner and outer surfaces, improve the flexibility of abrasive waterjet cutting, application is more extensive, has the characteristics that efficient, reliable and operation is flexible.
Description
Technical field
The utility model belongs to intelligent manufacturing equipment technical field, is related to a kind of manipulator, specifically a kind of gantry frame type
Five degree of freedom abrasive water-jet Space processing manipulator.
Background technology
At present, in the industrial production, manipulator is increasingly valued by people, and it can be replaced in certain circumstances
Manpower, and can be according to the requirement for the production technology being previously set, it then follows program completes given operation, greatly changes
It has been apt to the condition of work of worker, has improved operating efficiency and the quality of product.
Abrasive Waterjet Machining Technology also with its cold working mode, suitable material scope it is wide and the features such as be easy to control by
To the attention of people.But the flexibility ratio of abrasive waterjet cutting is poor, cause the application of abrasive waterjet cutting by certain journey
The limitation of degree, and Abrasive Waterjet Machining Technology is combined with manipulator, it can preferably increase abrasive waterjet cutting
Flexibility ratio.Thus, a kind of abrasive water-jet Space processing manipulator is designed, to realize driven end ejecting device in space model
Interior multifreedom motion is enclosed, to meet the processing needs to complex shape part, particularly curved surface part, is had extremely important
Meaning.
The content of the invention
The utility model aims to overcome that above shortcomings in the prior art, there is provided a kind of gantry frame type five is freely
Spend abrasive water-jet Space processing manipulator.
According to technical scheme provided by the utility model：Gantry frame type five degree of freedom abrasive water-jet Space processing machinery
Hand includes portal frame workbench, abrasive waterjet nozzle, wrist, forearm, large arm, support, sliding block, portal frame crossbeam, portal frame
Column；The gantry pillar is placed in the both sides of portal frame workbench, and the portal frame crossbeam can be carried out along gantry pillar
Oscilaltion campaign.
As further improvement of the utility model, the portal frame crossbeam is provided with guide rail, and sliding block is connected on guide rail；Institute
State support to fix with sliding block, support can carry out side-to-side movement by sliding block along portal frame crossbeam；The waist of the support can be with
Do gyration；The rear end of the large arm is connected on support, and can carry out elevating movement with respect to support.
As further improvement of the utility model, the forearm couples with the front end of large arm, and forearm can be with respect to large arm
Carry out elevating movement；The wrist couples with forearm, and wrist can carry out elevating movement with respect to forearm, while wrist can return
Transhipment is dynamic；The abrasive waterjet nozzle is fixed in wrist, and abrasive waterjet nozzle is realized by the linkage of each mechanical part
Precise motion, so as to realize accurate processing of the gantry frame type five degree of freedom abrasive water-jet Space processing manipulator to workpiece.
Compared with prior art, advantage is the utility model：Based on portal frame, manipulator and abrasive water-jet
Process technology is combined, and improves flexibility and the efficiency of water jet machining；A kind of gantry frame type five degree of freedom abrasive water
Fluidic spaces processing equipment hand, manipulator is fixed on gantry, expands the range of movement of manipulator, being combined with manipulator makes
The nozzle of abrasive water-jet can realize multifreedom motion, manipulator flexibly, it is efficient and various complicated works can be processed
The characteristics of part and Abrasive Waterjet Machining Technology smooth cut, cold working, cutting efficiency be high, green and can almost process
The characteristics of any material, be combined with each other, and realizes processing of the water jet to plane, curved surface and workpiece inner and outer surfaces, adds mill
Expect the flexibility of water jet machining, make its application more extensive, have the characteristics that efficient, reliable and operation is flexible.
Brief description of the drawings
Accompanying drawing 1 is overall structure diagram of the present utility model.
The description of symbols of accompanying drawing 1：1- portal frames workbench, 2- abrasive waterjet nozzles, 3- wrists, 4- forearms, 5- large arm, 6-
Support, 7- sliding blocks, 8- portal frames crossbeam, 9- gantry pillars.
Embodiment
With reference to specific drawings and examples, the utility model is described in further detail.
With reference to the accompanying drawings 1, the utility model provides a kind of gantry frame type five degree of freedom abrasive water-jet Space processing machinery
Hand, the gantry frame type five degree of freedom abrasive water-jet Space processing manipulator include portal frame workbench 1, abrasive waterjet nozzle
2nd, wrist 3, forearm 4, large arm 5, support 6, sliding block 7, portal frame crossbeam 8, gantry pillar 9；The gantry pillar 9 is placed in dragon
The both sides of door frame workbench 1, the portal frame crossbeam 8 can carry out oscilaltion campaign along gantry pillar 9.The portal frame
Crossbeam 8 is provided with guide rail, and sliding block 7 is connected on guide rail；The support 6 is fixed with sliding block 7, and support 6 can be along gantry by sliding block 7
Frame crossbeam 8 carries out side-to-side movement；The waist of the support 6 can do gyration；The rear end of the large arm 5 is connected in support 6
On, and elevating movement can be carried out with respect to support 6.The forearm 4 couples with the front end of large arm 5, and forearm 4 can be with respect to large arm
5 carry out elevating movement；The wrist 3 couples with forearm 4, and wrist 3 can carry out elevating movement with respect to forearm 4, while wrist 3 can
To do gyration；The abrasive waterjet nozzle 2 is fixed in wrist 3, and abrasive water is realized by the linkage of each mechanical part
The precise motion of fluid jet nozzle 2.
During concrete application, as shown in Figure 1, the gantry frame type five degree of freedom abrasive water-jet Space processing manipulator is by dragon
Gantry type Five-degree-of-freedom spatial processing equipment hand and abrasive water jet streaming system composition, wherein manipulator is by wrist 3, forearm 4, large arm
5th, support 6 is formed, and wrist 3 couples abrasive waterjet nozzle 2, realizes gantry frame type Five-degree-of-freedom spatial processing equipment hand and abrasive material
The combination of water jet system.Five frees degree of manipulator are the gyration of support 6, the elevating movement of large arm 5, forearm respectively
4 elevating movement, the elevating movement of wrist 3 and the gyration of wrist 3.It is first that workpiece to be processed is accurate during process operation
On portal frame workbench 1, power is provided by servomotor, by the start and stop of each motor of programme-control and positive and negative
Turn, flexibly control height and position of the portal frame crossbeam 8 on gantry pillar 9, control slide block 7 in the position of portal frame crossbeam 8,
And the luffing angle and gyrobearing of the luffing angle, also wrist 3 of the gyrobearing of support 6, large arm 5 and forearm 4, make
Abrasive waterjet nozzle 2 in wrist 3 is accurate to up to processing stations as needed, is then turned on abrasive waterjet cutting system,
Accurate processing of the gantry frame type five degree of freedom abrasive waterjet cutting manipulator to workpiece is realized by the linkage of each mechanical part.
Above-described is only preferred embodiment of the present utility model, and the utility model is not limited to above example.Can
To understand, what those skilled in the art directly exported or associated on the premise of spirit of the present utility model and design is not departed from
Oher improvements and changes, it is considered as being included within the scope of protection of the utility model.
Claims (3)
- A kind of 1. gantry frame type five degree of freedom abrasive water-jet Space processing manipulator, it is characterised in that：The gantry frame type five is certainly Portal frame workbench (1), abrasive waterjet nozzle (2), wrist (3), small is included by degree abrasive water-jet Space processing manipulator Arm (4), large arm (5), support (6), sliding block (7), portal frame crossbeam (8), gantry pillar (9)；The gantry pillar (9) is put In the both sides of portal frame workbench (1), the portal frame crossbeam (8) can carry out oscilaltion campaign along gantry pillar (9).
- A kind of 2. gantry frame type five degree of freedom abrasive water-jet Space processing manipulator as claimed in claim 1, it is characterised in that： The portal frame crossbeam (8) is provided with guide rail, and sliding block (7) is connected on guide rail；The support (6) is fixed with sliding block (7), support (6) side-to-side movement can be carried out along portal frame crossbeam (8) by sliding block (7)；The waist of the support (6) can do revolution fortune It is dynamic；The rear end of the large arm (5) is connected on support (6), and can carry out elevating movement with respect to support (6).
- A kind of 3. gantry frame type five degree of freedom abrasive water-jet Space processing manipulator as claimed in claim 1, it is characterised in that： The forearm (4) couples with the front end of large arm (5), and forearm (4) can carry out elevating movement with respect to large arm (5)；The wrist (3) Couple with forearm (4), wrist (3) can carry out elevating movement with respect to forearm (4), while wrist (3) can do gyration；Institute State abrasive waterjet nozzle (2) to be fixed in wrist (3), abrasive waterjet nozzle (2) is realized by the linkage of each mechanical part Precise motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720808856.0U CN206982693U (en) | 2017-07-05 | 2017-07-05 | A kind of gantry frame type five degree of freedom abrasive water-jet Space processing manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720808856.0U CN206982693U (en) | 2017-07-05 | 2017-07-05 | A kind of gantry frame type five degree of freedom abrasive water-jet Space processing manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206982693U true CN206982693U (en) | 2018-02-09 |
Family
ID=61399704
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720808856.0U Expired - Fee Related CN206982693U (en) | 2017-07-05 | 2017-07-05 | A kind of gantry frame type five degree of freedom abrasive water-jet Space processing manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206982693U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160411A (en) * | 2017-07-05 | 2017-09-15 | 江南大学 | A kind of gantry frame type five degree of freedom abrasive water-jet Space processing manipulator |
| CN110400706A (en) * | 2019-06-04 | 2019-11-01 | 国家电网有限公司 | A kind of novel switching-off device and its application method |
-
2017
- 2017-07-05 CN CN201720808856.0U patent/CN206982693U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107160411A (en) * | 2017-07-05 | 2017-09-15 | 江南大学 | A kind of gantry frame type five degree of freedom abrasive water-jet Space processing manipulator |
| CN110400706A (en) * | 2019-06-04 | 2019-11-01 | 国家电网有限公司 | A kind of novel switching-off device and its application method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180209 Termination date: 20180705 |