CN208914102U - A kind of multiple degrees of freedom automatic control manipulator - Google Patents
A kind of multiple degrees of freedom automatic control manipulator Download PDFInfo
- Publication number
- CN208914102U CN208914102U CN201821596689.9U CN201821596689U CN208914102U CN 208914102 U CN208914102 U CN 208914102U CN 201821596689 U CN201821596689 U CN 201821596689U CN 208914102 U CN208914102 U CN 208914102U
- Authority
- CN
- China
- Prior art keywords
- electric machine
- controller
- chuck
- movable jaw
- rotating electric
- 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
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- Moulds For Moulding Plastics Or The Like (AREA)
- Manipulator (AREA)
Abstract
A kind of multiple degrees of freedom automatic control manipulator is related to modulus robot manipulator structure in a kind of hot-forming processing.Including cylinder, support frame and rotating electric machine, chuck and controller, rotating electric machine is installed on rotating electric machine lower end, and chuck is installed in the shaft of rotating electric machine；Side is fixed with stationary jaw below chuck, other side is provided with the first movable jaw and the second movable jaw；First movable jaw and the second movable jaw side surface are involute, are provided with pressure sensor on involute surface；Controller input terminal connects pressure sensor, and the output end connection venting solenoid valve and inflator pump, controller of controller are also connected with the electric machine controller of the first claw motor, the second claw motor and rotating electric machine.It solves in hot-forming processing modulus manipulator and uses clamp product clamping, the problem of clamp dynamics and method of clamping cannot be adjusted according to upper mold and product side switch, and when clamping will cause damage of product.
Description
Technical field
The utility model relates to the manipulators of automatic control, and in particular to modulus manipulator in a kind of hot-forming processing
Structure.
Background technique
Hot-forming is the processing method of composite material (plastics, fibrous material etc.), mainly utilizes heating processing mold
Afterwards, raw material is added, with upper mold plus-pressure and hot briquetting, then takes out upper mold and model finished product.The product of processing can be with
It is disposable tableware, daily necessity etc..Modulus is needed after hot-forming, i.e., takes out upper mold or product from lower die.At present most
Advanced model taking method is using manipulator operation, and existing manipulator is directly to extract upper mold using the manipulator of air cylinder lifting
And product, clamp product clamping is used below manipulator, clamp dynamics and method of clamping cannot be opened according to upper mold and product side
Pass is adjusted, and when clamping will cause damage of product.
Utility model content
The utility model provides a kind of multiple degrees of freedom automatic control manipulator, and the utility model solves hot-forming
Modulus uses clamp product clamping with manipulator in processing, and clamp dynamics and method of clamping cannot be opened according to upper mold and product side
The problem of pass is adjusted, and when clamping will cause damage of product.
To solve the above problems, the utility model adopts the following technical solution: a kind of multiple degrees of freedom automatic control manipulator,
Including cylinder and support frame, cylinder is installed on above support frame, and venting solenoid valve and inflator pump, cylinder piston rod are installed on cylinder
Lower section is equipped with elevating lever；It further include rotating electric machine, chuck and controller, rotating electric machine is installed on rotating electric machine lower end, chuck
It is installed in the shaft of rotating electric machine；Chuck is disc structure, and side is fixed with arc-shaped stationary jaw below chuck；In card
Side is provided with the first movable jaw and the second movable jaw to disk further below, be equipped on chuck the first claw motor and
The shaft of second claw motor, the first claw motor and the second claw motor is separately connected the first movable jaw and the second active card
Pawl；First movable jaw and the second movable jaw side surface are involute, are provided with pressure sensor on involute surface；Control
Device input terminal processed connects pressure sensor, the output end connection venting solenoid valve and inflator pump of controller, and controller is also connected with the
The electric machine controller of one claw motor, the second claw motor and rotating electric machine.
The utility model can set the clamping force of chuck, at work, transmit clamping force by pressure sensor
Information, when dynamics reaches determining range, controller stop claw motor rotation, prevent from crushing work piece.Due to work
Dynamic jaw surface is involute, and in movable jaw rotation, involute surface gradually forms pinching action.The utility model liter
It drops bar and realizes that lifting action, rotating electric machine realize spinning movement, the first movable jaw and the second movable jaw realize bidirectional rotation
Holding action, above structure forms multivariant mechanism hand structure.Since there are two movable jaws for setting, they can root
It is clamped according to workpiece surface shape, two movable jaws and stationary jaw form three-jaw clamping, stable structure.
Detailed description of the invention
Fig. 1 is the utility model structure diagram figure；
Fig. 2 is chuck bottom view；
Fig. 3 is chuck top view；
Fig. 4 is the utility model electric component connection figure；
Fig. 5 is chuck usage state diagram.
Symbol description in figure: cylinder 1, venting solenoid valve 1-1, inflator pump 1-2, support frame 2, elevating lever 3, rotating electric machine 4,
Chuck 5, stationary jaw 5-1, the first movable jaw 6, the first claw motor 6-1, the second movable jaw 7, the second claw motor 7-
1, pressure sensor 8, controller 9, work piece or upper mold 10.
Specific embodiment
The utility model is described in detail with optimal embodiment below.
As shown in Figs 1-4, a kind of multiple degrees of freedom automatic control manipulator, including cylinder 1, support frame 2, cylinder 1 are installed on
Above support frame 2, venting solenoid valve 1-1 and inflator pump 1-2 is installed on cylinder 1,1 piston rod of cylinder is set on support frame 2
In through-hole, elevating lever 3 is installed below 1 piston rod of cylinder；It further include rotating electric machine 4, chuck 5 and controller 9, rotating electric machine 4
It is installed on 4 lower end of rotating electric machine, chuck 5 is installed in the shaft of rotating electric machine 4 (shaft and chuck are eccentrically mounted)；Chuck 5 is
Disc structure, chuck 5 are fixed with arc-shaped stationary jaw 5-1 in side below, stationary jaw 5-1 be fixedly connected with chuck 5 or
It is structure as a whole；In chuck 5, side is provided with the first movable jaw 6 and the second movable jaw 7 further below, on chuck 5
The shaft of first claw motor 6-1 and the second claw motor 7-1, the first claw motor 6-1 and the second claw motor 7-1 are installed
It is separately connected the first movable jaw 6 and the second movable jaw 7；First movable jaw 6 and 7 side surface of the second movable jaw are gradually to open
It is linear, pressure sensor 8 is provided on involute surface；9 input terminal of controller connects pressure sensor 8, the output of controller 9
End connection venting solenoid valve 1-1 and inflator pump 1-2, controller 9 be also connected with the first claw motor 6-1, the second claw motor 7-1 and
The electric machine controller of rotating electric machine 4.
Working principle: controller 9 controls inflator pump 1-2 movement, and 1 piston rod of cylinder drives elevating lever 3 to decline, controller 9
Control rotating electric machine 4 drives chuck 5 to rotate to work piece or upper mold to positive position；Controller 9 controls the first claw electricity
Machine 6-1, the second claw motor 7-1 rotation, the involute surface of two movable jaws gradually clamp work piece or upper mold,
Pressure information is transmitted to controller 9 by the pressure sensor 8 of involute surface, when pressure reaches authorized pressure value (pressure value
Just by Workpiece clamping, and workpiece cannot be crushed) when, controller 9, which issues instruction, stops corresponding movable jaw motor；When
When work piece or upper mould surface are irregular shapes, the first movable jaw 6 and the rotation of the second movable jaw 7 and clip position are not
With (refering to Fig. 5)；Controller opens venting solenoid valve 1-1 after the completion of modulus, lifts elevating lever, puts down work piece or upper mold,
Complete work.
Claims (1)
1. a kind of multiple degrees of freedom automatic control manipulator, including cylinder and support frame, cylinder is installed on above support frame, on cylinder
Venting solenoid valve and inflator pump are installed, elevating lever is installed below cylinder piston rod；It is characterized in that, further include rotating electric machine,
Chuck and controller, rotating electric machine are installed on rotating electric machine lower end, and chuck is installed in the shaft of rotating electric machine；Chuck is disk
Structure, side is fixed with arc-shaped stationary jaw below chuck；In chuck, side is provided with the first movable jaw further below
With the second movable jaw, the first claw motor and the second claw motor, the first claw motor and second are installed on chuck
The shaft of claw motor is separately connected the first movable jaw and the second movable jaw；First movable jaw and the second movable jaw side
Surface is involute, is provided with pressure sensor on involute surface；Controller input terminal connects pressure sensor, controller
Output end connection venting solenoid valve and inflator pump, controller be also connected with the first claw motor, the second claw motor and electric rotating
The electric machine controller of machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821596689.9U CN208914102U (en) | 2018-09-29 | 2018-09-29 | A kind of multiple degrees of freedom automatic control manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821596689.9U CN208914102U (en) | 2018-09-29 | 2018-09-29 | A kind of multiple degrees of freedom automatic control manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208914102U true CN208914102U (en) | 2019-05-31 |
Family
ID=66707603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821596689.9U Expired - Fee Related CN208914102U (en) | 2018-09-29 | 2018-09-29 | A kind of multiple degrees of freedom automatic control manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208914102U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110722088A (en) * | 2019-11-28 | 2020-01-24 | 浦江吉树机械科技有限公司 | Forge piece carrying device for free forging processing |
-
2018
- 2018-09-29 CN CN201821596689.9U patent/CN208914102U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110722088A (en) * | 2019-11-28 | 2020-01-24 | 浦江吉树机械科技有限公司 | Forge piece carrying device for free forging processing |
| CN110722088B (en) * | 2019-11-28 | 2020-12-18 | 江苏华兴特钢铸造有限公司 | Forge piece carrying device for free forging processing |
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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: 20190531 Termination date: 20190929 |