CN207618594U - 3 D auto based on manipulator is bent automatic charging device - Google Patents
3 D auto based on manipulator is bent automatic charging device Download PDFInfo
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- CN207618594U CN207618594U CN201721630318.3U CN201721630318U CN207618594U CN 207618594 U CN207618594 U CN 207618594U CN 201721630318 U CN201721630318 U CN 201721630318U CN 207618594 U CN207618594 U CN 207618594U
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- mechanical arm
- materials
- manipulator
- tube
- tube handgrip
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Abstract
The utility model discloses a kind of, and the 3 D auto based on manipulator is bent automatic charging device, the device includes manipulator and rack, wherein manipulator includes the space displacement of materials in the tube handgrip, materials in the tube handgrip, multiple mechanical arm cooperative motions control materials in the tube handgrip, and materials in the tube handgrip is used for capturing tubing；At least one mechanical arm is connect with pedestal, can be rotated horizontally；At least one mechanical arm is connect with materials in the tube handgrip, and control materials in the tube handgrip rises and falls.Mechanical arm totally 4, materials in the tube handgrip, first mechanical arm, second mechanical arm, third mechanical arm, the 4th mechanical arm, pedestal are sequentially connected；First mechanical arm, second mechanical arm, third mechanical arm are mutually moved in ground and the excessively plane of the 4th mechanical arm；4th mechanical arm can 360 ° of rotations relative to pedestal.Type of drive is pneumatic.The mutually coordinated manipulation materials in the tube handgrip of four arms completes feeding, feeding, improves production efficiency, has saved production cost.
Description
Technical field
The utility model is related to the 3 D autos based on manipulator to be bent automatic charging device, belong to tube bending forming skill
Art field.
Background technology
The appearance of 3 D auto bending forming technology realizes the three-dimensional of space structure complexity bend pipe, greatly improves
The precision of pipe fitting forming reduces the generation of bending defect, also reduces the cost of production mould.And in order to improve three-dimensional bending
The production efficiency of forming, improving the speed of feeding is necessary.The feeding side of 3 D auto pane bending apparatus now
Formula is manual feeding, i.e., staff is manually operated, and not only production efficiency is low for manual feeding, but also increases entreprise cost,
Realize that the feeding automation of 3 D auto bending forming is imperative.
Using mechanical automation feeding device compared with traditional manual feeding, there is efficient, at low cost, environment is good etc.
Advantage.Utility model device can effectively improve efficiency, while save production cost, improve operating environment.
Utility model content
Technical problem to be solved in the utility model be provide in view of the deficiencies of the prior art it is a kind of based on manipulator
3 D auto is bent automatic charging device.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is：
A kind of 3 D auto bending automatic charging device based on manipulator, including manipulator；Manipulator includes pedestal, pipe
Expect that the space displacement of handgrip, multiple mechanical arm cooperative motions control materials in the tube handgrip, materials in the tube handgrip are used for capturing tubing；At least one
A mechanical arm is connect with pedestal, can be rotated horizontally；At least one mechanical arm is connect with materials in the tube handgrip, and control materials in the tube handgrip rises
It falls.
Further, materials in the tube handgrip includes clamping device, and clamping device includes material clamping part one, material clamping part two, push rod；Push rod can
It pushes material clamping part two to be moved to material clamping part one and clamps materials in the tube.
Further, materials in the tube handgrip includes two symmetrically arranged clamping devices, is connected by connecting rod.
Further, mechanical arm totally 4, materials in the tube handgrip, first mechanical arm, second mechanical arm, third mechanical arm, the 4th machine
Tool arm, pedestal are sequentially connected；First mechanical arm, second mechanical arm, third mechanical arm are perpendicular to ground and the 4th mechanical arm excessively
Plane in mutually move；4th mechanical arm can 360 ° of rotations relative to pedestal.
Further, material clamping part one is fixed on clamping device ontology, and material clamping part two, which is mounted on to fix with push rod in sliding slot, to be connected
It connects, control material clamping part two by pneumatic actuation push rod realizes the closure and opening with material clamping part one in sliding slot intrinsic displacement.
Further, first mechanical arm and second mechanical arm, second mechanical arm and third mechanical arm, third mechanical arm and the
Four mechanical arms are bolted；There are four degree of freedom, respectively first mechanical arm and second mechanical arm, the second machine altogether for manipulator
Tool arm and third mechanical arm, third mechanical arm and the 4th mechanical arm, the 4th mechanical arm and pedestal.
Further, further include rack, for placing materials in the tube, it is fixed that the position of rack meets manipulator base
Realize feeding cyclic process.
The beneficial effects of the utility model are：The utility model rationally designs mechanical gripper, passes through atmospheric control
The movement for realizing manipulator, realizes the automation of 3 D auto bending forming feeding device, improves production efficiency, reduce
Entreprise cost improves operating environment.
Description of the drawings
Fig. 1 is that the 3 D auto based on manipulator is bent automatic charging device operating diagram；
1 bending machine material chamber, 2 materials in the tube handgrips, 3 first mechanical arms, 4 second mechanical arms, 5 third mechanical arms, 6 the 4th machineries
Arm, 7 pedestals, 8 racks；
Fig. 2 is manipulator schematic diagram；
Fig. 3 is rack schematic diagram；
Fig. 4 is materials in the tube handgrip isometric view；
Fig. 5 is schematic diagram when materials in the tube handgrip opens；
9 material clamping parts one, 10 material clamping parts two, 11 push rods, 12 connecting rods；
Fig. 6 is schematic diagram when materials in the tube handgrip is closed.
Specific implementation mode
Below in conjunction with specific embodiment, the utility model is described in detail.
As shown in Figure 1, the 3 D auto based on manipulator is bent automatic charging device, including manipulator and rack 8, wherein
Manipulator includes materials in the tube handgrip 2, first mechanical arm 3, second mechanical arm 4, third mechanical arm 5, the 4th mechanical arm 6 and pedestal 7.
First mechanical arm 3 and second mechanical arm 4, second mechanical arm 4 and third mechanical arm 5, third mechanical arm 5 and the 4th mechanical arm 6 are logical
It crosses and is bolted, first mechanical arm 3, second mechanical arm 4, third mechanical arm 5 can be perpendicular to ground and the 4th mechanical arms 6 excessively
Plane in mutually move, realize the flexible operating of manipulator, it is movable apart from size to control materials in the tube handgrip.And the 4th machinery
Arm 6 can be rotated relative to pedestal 7, and plane of movement is parallel to ground, and ranging from 0 ° ~ 360 ° of rotation angle,
Control the direction of manipulator.
The diameter 30mm of the tubing of the present embodiment, wall thickness 3mm deposit in rack 8.When work, materials in the tube handgrip 2 opens, the
Four mechanical arms 6 rotate by a certain angle relative to pedestal 7, make manipulator directional steering rack 8, the 4th mechanical arm 6 is relative to pedestal 7
It is static；First mechanical arm 3, second mechanical arm 4, third mechanical arm 5 start the coordinated movement of various economic factors, and materials in the tube handgrip 2 is stretched on rack 8
Tubing；After reaching precalculated position, all mechanical arms are static, and material clamping part 2 10 is under the action of push rod 11 along top sliding slot
It is close to material clamping part 1 and finally contact, while materials in the tube are stepped up；First mechanical arm 3, second mechanical arm 4, third mechanical arm 5
The materials in the tube handgrip 2 of closed state is recycled in the coordinated movement of various economic factors, completes feeding process.
After feeding, the beginning of the 4th mechanical arm 6 rotates by a certain angle relative to pedestal 7, makes manipulator towards bending machine
Expect chamber 1, the 4th mechanical arm 6 is static relative to pedestal 7 later；First mechanical arm 3, second mechanical arm 4, third mechanical arm 5 start
The materials in the tube handgrip 2 of closed state is stretched to bending machine material chamber 1 by the coordinated movement of various economic factors；After reaching precalculated position, all mechanical arms are quiet
Only, material clamping part 2 10 under the action of push rod 11 along top sliding slot far from material clamping part 1, and position when returning to opening, together
When materials in the tube be placed in bending machine material chamber 1；First mechanical arm 3, second mechanical arm 4,5 coordinated movement of various economic factors of third mechanical arm will open
The materials in the tube handgrip 2 of open state recycles, material process in completion.
Feeding process and upper material process together constitute a cycle of manipulator automatic charging.The utility model based on
The 3 D auto bending automatic charging device success of manipulator realizes 3 D auto bending forming feeding instead of artificial loading
Automation, greatly improve production efficiency, significantly reduce enterprise's production cost, also improve operation ring well
Border.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of the appended claims for the utility model.
Claims (7)
1. a kind of 3 D auto based on manipulator is bent automatic charging device, it is characterised in that：
Including manipulator；
Manipulator includes the space displacement of pedestal, materials in the tube handgrip, multiple mechanical arm cooperative motions control materials in the tube handgrip, materials in the tube handgrip
For capturing tubing；
At least one mechanical arm is connect with pedestal, can be rotated horizontally；
At least one mechanical arm is connect with materials in the tube handgrip, and control materials in the tube handgrip rises and falls.
2. the 3 D auto according to claim 1 based on manipulator is bent automatic charging device, it is characterised in that：
Materials in the tube handgrip includes clamping device, and clamping device includes material clamping part one, material clamping part two, push rod；
Push rod can push material clamping part two to be moved to material clamping part one and clamp materials in the tube.
3. the 3 D auto according to claim 2 based on manipulator is bent automatic charging device, it is characterised in that：
Materials in the tube handgrip includes two symmetrically arranged clamping devices, is connected by connecting rod.
4. being bent automatic charging device, feature according to 3 D auto of the claim 1-3 any one of them based on manipulator
It is：
Mechanical arm totally 4, materials in the tube handgrip, first mechanical arm, second mechanical arm, third mechanical arm, the 4th mechanical arm, pedestal are successively
It is connected；
First mechanical arm, second mechanical arm, third mechanical arm are mutually transported in ground and the excessively plane of the 4th mechanical arm
It is dynamic；
4th mechanical arm can 360 ° of rotations relative to pedestal.
5. the 3 D auto according to claim 2 based on manipulator is bent automatic charging device, it is characterised in that：
Material clamping part one is fixed on clamping device ontology, and material clamping part two is mounted in sliding slot and is fixedly connected with push rod, passes through pneumatic driving
Dynamic push rod control material clamping part two realizes the closure and opening with material clamping part one in sliding slot intrinsic displacement.
6. the 3 D auto according to claim 4 based on manipulator is bent automatic charging device, it is characterised in that：
First mechanical arm passes through with second mechanical arm, second mechanical arm and third mechanical arm, third mechanical arm and the 4th mechanical arm
It is bolted；
Degree of freedom there are four manipulator is total, respectively first mechanical arm and second mechanical arm, second mechanical arm and third mechanical arm,
Third mechanical arm and the 4th mechanical arm, the 4th mechanical arm and pedestal.
7. the 3 D auto according to claim 6 based on manipulator is bent automatic charging device, it is characterised in that：
Further include rack, for placing materials in the tube, the position of rack meets the fixed feeding that can be realized of manipulator base and recycles
Process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721630318.3U CN207618594U (en) | 2017-11-29 | 2017-11-29 | 3 D auto based on manipulator is bent automatic charging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721630318.3U CN207618594U (en) | 2017-11-29 | 2017-11-29 | 3 D auto based on manipulator is bent automatic charging device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207618594U true CN207618594U (en) | 2018-07-17 |
Family
ID=62824835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721630318.3U Active CN207618594U (en) | 2017-11-29 | 2017-11-29 | 3 D auto based on manipulator is bent automatic charging device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207618594U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111644533A (en) * | 2020-06-10 | 2020-09-11 | 建科机械（天津）股份有限公司 | Automatic grabbing type feeding device for steel bar bender and steel bar bender component |
| CN115781648A (en) * | 2022-11-24 | 2023-03-14 | 江苏江顺精密科技集团股份有限公司 | Manipulator grabbing and transferring device for aluminum profile mold production and using method thereof |
-
2017
- 2017-11-29 CN CN201721630318.3U patent/CN207618594U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111644533A (en) * | 2020-06-10 | 2020-09-11 | 建科机械（天津）股份有限公司 | Automatic grabbing type feeding device for steel bar bender and steel bar bender component |
| CN115781648A (en) * | 2022-11-24 | 2023-03-14 | 江苏江顺精密科技集团股份有限公司 | Manipulator grabbing and transferring device for aluminum profile mold production and using method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 210000 Jiangsu Province Nanjing Economic and Technological Development Zone Hongfeng Science and Technology Park B4 West Section 1 Floor Patentee after: Jiangsu Hexin Robot System Co., Ltd. Address before: 210000 Jiangsu Province Nanjing Economic and Technological Development Zone Hongfeng Science and Technology Park B4 West Section 1 Floor Patentee before: Nanjing Changhang Intelligent Equipment Co., Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220308 Address after: Floor 14, building A1, Huizhi science and Technology Park, Hengtai Road, Nanjing Economic and Technological Development Zone, Nanjing, Jiangsu 210038 Patentee after: NANJING HEXIN AUTOMATION Co.,Ltd. Address before: 210000 Jiangsu Province Nanjing Economic and Technological Development Zone Hongfeng Science and Technology Park B4 West Section 1 Floor Patentee before: Jiangsu Hexin Robot System Co.,Ltd. |
|
| TR01 | Transfer of patent right |