CN212870768U - Rotary heavy-load manipulator - Google Patents
Rotary heavy-load manipulator Download PDFInfo
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- CN212870768U CN212870768U CN202021622638.6U CN202021622638U CN212870768U CN 212870768 U CN212870768 U CN 212870768U CN 202021622638 U CN202021622638 U CN 202021622638U CN 212870768 U CN212870768 U CN 212870768U
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract 7
- 230000007246 mechanism Effects 0.000 claims description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 4
- 239000010959 steel Substances 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 description 29
- 239000003921 oil Substances 0.000 description 14
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000010438 heat treatment Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 239000010720 hydraulic oil Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 238000005098 hot rolling Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
The utility model provides a rotation heavy load manipulator, including unable adjustment base, the last rotating base that is equipped with of unable adjustment base, the last lifting pedestal that is equipped with of rotating base, be equipped with flexible arm on the lifting pedestal, it links to each other through gyration support between lifting pedestal and the flexible arm, the gyration is supported and is linked to each other with first rotating electrical machines, flexible arm end is equipped with anchor clamps, the roating seat links to each other with the second rotating electrical machines, the lifting pedestal links to each other with hydraulic cylinder, first rotating electrical machines drives the gyration and supports the rotation, the second rotating electrical machines drives the roating seat rotatory, hydraulic cylinder drive lifting pedestal goes up and down, hydraulic cylinder, rotating electrical machines and anchor clamps link to each other with the controller respectively. The automatic conveying device has the advantages of improving automation, replacing manpower and realizing multi-station movable conveying.
Description
Technical Field
The utility model belongs to machine-building and manipulator field, concretely relates to rotation heavy load manipulator.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In the processing process of most materials in the hot forging industry, various different process steps are often involved, and each step needs to be processed on special equipment; for example, in the process of hot rolling seamless rings, the material is first heated in a heating furnace, then the heated material is fed into a press machine for upsetting and punching, and finally the material is fed into a ring rolling mill and rolled into a ring shape.
The inventor finds that in the process of feeding and discharging materials into and out of the heating furnace, the prior art adopts a manual loading and unloading machine to realize the feeding and discharging of the blanks into and out of the heating furnace. And the field high-temperature environment is very severe. In the material course of working, the material need make a round trip to switch between the equipment of difference, and prior art adopts the mode through artifical manual control driving to realize the transportation to the part, because artifical the control has certain error, and causes the unbalance of application of force easily, may be because the processing that the positional deviation of placing of part leads to the part has the error for the part defective rate increases, is unfavorable for industrial production.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve above-mentioned problem, provided a rotation heavy load manipulator, the utility model discloses a solve the manual work and control to have certain error, and cause the unbalance of application of force easily, probably because the positional deviation of placing of part leads to the processing of part to have the error for the technical problem of part disqualification rate increase.
According to some embodiments, the utility model adopts the following technical scheme:
the utility model provides a rotation heavy load manipulator, includes unable adjustment base, the last rotating basis that is equipped with of unable adjustment base, the last lifting basis that is equipped with of rotating basis, be equipped with flexible arm on the lifting basis, it supports through the gyration between lifting basis and the flexible arm and links to each other, the gyration is supported and is linked to each other with first rotating electrical machines, flexible arm end portion is equipped with anchor clamps, the roating seat links to each other with the second rotating electrical machines, the lifting basis links to each other with hydraulic cylinder, first rotating electrical machines drives the gyration and supports the rotation, the second rotating electrical machines drives the roating seat rotation, hydraulic cylinder drive lifting basis goes up and down, hydraulic cylinder, rotating electrical machines and anchor clamps link to each other with the.
In addition, according to the utility model discloses rotation heavy load manipulator can also have following additional technical characteristics:
preferably, a guide column is arranged on the rotating base, and the lifting base is connected with the rotating base through the guide column.
Preferably, one end of the lifting base, which is far away from the telescopic arm, is provided with a balancing weight.
Preferably, the clamp comprises a clamp head, the clamp head is connected with a pull rod, and the pull rod is connected with a clamp oil cylinder.
Preferably, the clamp head is connected with the clamp oil cylinder through a link mechanism and a pull rod positioned in the telescopic arm.
Preferably, a displacement sensor is arranged in the clamp oil cylinder.
Preferably, the balancing weight is connected with the telescopic arm through C-shaped steel.
Preferably, the clamp oil cylinder drives the clamp to clamp and release.
Preferably, the rotating motor drives the rotation of the rotating base.
Preferably, the hydraulic oil cylinder drives the lifting base to lift.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses a set up unable adjustment base, rotating base, the lift base, flexible arm and anchor clamps, rotation and the flexible arm of anchor clamps through rotating base realize the material transfer between the multistation, can realize snatching the accuracy of material, it is high to the position moving accuracy of material, avoid producing position error, improve production efficiency and personnel's security, replace the workman and produce under the environment of high temperature, the specially adapted material removes between the multistation, greatly reduce the degree of dependence to operating personnel among the removal process, the degree of automation is high, rotation through the Z axle direction, realize snatching and releasing the material of equidirectional, the especially adapted material removes the transportation between different stations, the anchor clamps part can overturn alone, can realize the upset to the different angles of material, the flexibility is high.
Drawings
The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without unduly limiting the scope of the invention.
Fig. 1 is a front view of a rotary heavy-duty manipulator of the present invention;
fig. 2 is a top view of the rotary heavy-duty robot of the present invention;
fig. 3 is a structural view of the clamp of the rotary heavy-duty manipulator of the present invention.
Description of reference numerals:
in fig. 1-3, a base 1 is fixed; a first slewing bearing 2; a rotating base 3; a guide post 4; a second slewing bearing 5; a telescopic arm 6; a clamp 7; a balancing weight 8; the base 9 is lifted.
The specific implementation mode is as follows:
the present invention will be further explained with reference to the accompanying drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
As shown in fig. 1-3, a rotary heavy-duty manipulator comprises a fixed base, a rotary base 3 is arranged on the fixed base, a lifting base 9 is arranged on the rotary base 3, a telescopic arm 6 is arranged on the lifting base 9, the lifting base 9 and the telescopic arm 6 are connected through a rotary support, the rotary support is connected with a first rotary motor, a clamp 7 is arranged at the end of the telescopic arm 6, the rotary base is connected with a second rotary motor, the lifting base 9 is connected with a hydraulic cylinder, the first rotary motor drives the rotary support to rotate, the second rotary motor drives the rotary base to rotate, the hydraulic cylinder drives the lifting base 9 to lift, and the hydraulic cylinder, the rotary motor and the clamp 7 are respectively connected with a controller.
Be equipped with guide post 4 on the rotating base 3, lift base 9 passes through guide post 4 and links to each other with rotating base 3. And a counterweight block 8 is arranged at one end of the lifting base 9 far away from the telescopic arm 6. The clamp 7 comprises a clamp head, the clamp head is connected with a pull rod, and the pull rod is connected with a clamp oil cylinder. The head of the clamp is connected with the clamp oil cylinder through a link mechanism and a pull rod positioned in the telescopic arm 6. And a displacement sensor is arranged in the clamp oil cylinder. The balancing weight 8 is connected with the telescopic arm 6 through C-shaped steel. The clamp oil cylinder drives the clamp to clamp and release. The rotating motor drives the rotation of the rotating base 3. The hydraulic cylinder drives the lifting base 9 to lift.
This patent can realize the automatic heating furnace that passes in and out of part automatically to and the position between different stations removes, and it is high to remove the precision, and degree of automation is high, improves production efficiency, has improved workman operational environment.
A rotary heavy-duty robot comprising: the device comprises a fixed base, a rotating base 3, a lifting base 9, a telescopic arm 6 and a clamp 7, wherein the rotating base 3 can rotate relative to the fixed base under the drive of a first rotation driving mechanism; the lifting base 9 is connected with the rotating base 3 through a lifting mechanism. The first rotary driving mechanism can adopt a rotary motor, and the lifting mechanism can adopt a hydraulic oil cylinder and a hydraulic rod.
The telescopic arm 6 is connected with the lifting base 9 through a second slewing bearing, and the second slewing bearing is driven to rotate through a second rotary driving mechanism to drive the telescopic arm 6 to rotate. The telescopic arm 6 may be driven by a hydraulic ram with a position sensor. The clamp 7 comprises a clamp head, a pull rod and a clamp oil cylinder. The clamp 7 is connected with the telescopic arm 6. The clamp head is connected with the clamp oil cylinder through a pull rod hidden in the telescopic arm 6, and the pull rod penetrates through the telescopic arm 6 and the lifting base 9.
The rotating base 3 is connected with the fixed base 1 through a first slewing bearing, and the first slewing bearing is driven to rotate through a hydraulic motor or an electric motor. The lifting base 9 is connected with the rotating base 3 through the guide post 4, the lifting base 9 is driven to lift by the double hydraulic oil cylinders, and the lifting base is provided with a position sensor. The telescopic arm 6 is connected with the balancing weight 8 through two C-shaped steel on the outer side, the front structure and the rear structure are connected into a whole, the rigidity of the mechanism is increased, the lifting base 9 is also provided with a guide mechanism, and the guide mechanism is used for moving the telescopic arm 6 for the telescopic guide mechanism.
This patent can be according to the motion flow of the concrete flow design manipulator of material processing for heavy load manipulator can realize snatching the accuracy of material according to the flow operation of setting for, and it is high to the position removal precision of material, avoids producing position error, improves production efficiency and personnel's security. Solves the problem that the blank enters and exits the heating furnace, and can replace workers to produce in a high-temperature environment. The automatic material conveying device is particularly suitable for moving materials among multiple stations, the degree of dependence on operators in the moving process is greatly reduced, and the degree of automation is high. Through the rotation of Z axle direction, realize snatching and releasing the material of equidirectional, the specially adapted material is in the removal transportation between different stations. 7 parts of the clamp can be independently turned, so that the materials can be turned at different angles, and the flexibility is high.
A robot refers to an automatic operating device that can simulate some functions of a human hand and arm to grasp, carry objects or operate tools according to a fixed program. As described in the background art, in order to improve work efficiency, increase safety of operators, and improve moving accuracy of materials, materials need to move between different processing stations in a processing process, in one or more embodiments, a rotary heavy-duty manipulator is disclosed, in which a fixed base, a rotary base 3, a lifting base 9, a telescopic arm 6, and a clamp 7 are provided, and the materials are transferred between multiple stations by rotation of the rotary base 3 and forward and backward movement of the telescopic arm 6.
The fixed base 1 is connected with the rotary base 3 through a slewing bearing with an external gear ring, the slewing bearing is driven to rotate through the hydraulic motor, the rotary base 3 rotates relative to the fixed base 1, the rotation range is 0-360 degrees, a high-precision encoder is arranged, and the rotation precision is detected.
Four guide posts 4 are arranged on the rotating base 3 to support the lifting base 9 of the upper-layer box structure to lift, and double lifting oil cylinders are adopted to realize lifting.
The clamp 7 is connected with the lifting base 9 through a slewing bearing with an external gear ring, the slewing bearing is driven to rotate by the hydraulic motor to drive the guide arm to rotate, the guide arm drives the large outer arm to rotate through torque transmission of the roller guide mechanism, and therefore the clamp 7 rotates relative to the lifting base 9, and the overturning angle is 0-360 degrees.
Anchor clamps 7 can realize snatching and releasing the material of different angles for the upset of lift base 9, and the angle that heavy load manipulator can snatch or place the material as required, the rotation angle of adjustment anchor clamps 7 to the realization is to the snatching or the adjustment of release angle of material, can realize the upset to the material of snatching simultaneously, snatchs the flexibility height.
In this embodiment, the clamp 7 includes a clamp head, a pull rod, and a clamp cylinder. The head of the clamp is connected with a clamp oil cylinder through a pull rod hidden in the telescopic arm 6 by a link mechanism, and a position sensor is arranged in the clamp oil cylinder.
The rotating base 3 can rotate relative to the fixed base under the drive of the first rotating drive mechanism; the lifting base 9 is connected with the rotating base 3 through a lifting mechanism. The second driving mechanism drives the clamp 7 to rotate through the guide arm, the roller guide mechanism and the telescopic arm 6, and the telescopic oil cylinder can drive the clamp 7 to move back and forth under the guide action of the guide arm and the first guide column 4. Therefore, the movement is detected at all positions, so that the movement control is more accurate, and the realization of automation is guaranteed.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.
Claims (10)
1. The utility model provides a rotation heavy load manipulator, its characterized in that, includes unable adjustment base, unable adjustment base is last to be equipped with rotating basis, the last lifting pedestal that is equipped with of rotating basis, rotating basis supports through first gyration and links to each other with lifting pedestal, be equipped with flexible arm on the lifting basis, support through the second gyration between lifting basis and the flexible arm and link to each other, the second gyration is supported and is linked to each other with the second rotating electrical machines, flexible arm end portion is equipped with anchor clamps, first gyration is supported and is linked to each other with first rotating electrical machines, lifting basis links to each other with hydraulic cylinder, rotating electrical machines and anchor clamps link to each other with the controller respectively.
2. The rotary heavy-duty robot as claimed in claim 1, wherein the rotary base is provided with a guiding column, and the lifting base is connected to the rotary base through the guiding column.
3. The rotary heavy-duty robot as claimed in claim 1, wherein a weight is provided at an end of the lifting base away from the telescopic arm.
4. The rotary heavy-duty manipulator according to claim 1, wherein said clamp comprises a clamp head, said clamp head is connected to a pull rod, and said pull rod is connected to a clamp cylinder.
5. The rotary heavy-duty robot as claimed in claim 4, wherein said clamp head is connected to the clamp cylinder via a link mechanism via a pull rod inside the telescopic arm.
6. The rotary heavy-duty manipulator of claim 5, wherein a displacement sensor is disposed in said clamp cylinder.
7. The rotary heavy-duty manipulator of claim 3, wherein said weight is connected to said telescopic arm by means of C-shaped steel.
8. The rotary heavy duty robot of claim 4 wherein said gripper cylinder drives the gripping and releasing of the gripper.
9. The rotary heavy-duty robot of claim 1, wherein said rotating motor drives the rotation of the rotating base.
10. The rotary heavy-duty robot of claim 1, wherein said hydraulic cylinder drives the elevation of the elevation base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021622638.6U CN212870768U (en) | 2020-08-06 | 2020-08-06 | Rotary heavy-load manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021622638.6U CN212870768U (en) | 2020-08-06 | 2020-08-06 | Rotary heavy-load manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN212870768U true CN212870768U (en) | 2021-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021622638.6U Active CN212870768U (en) | 2020-08-06 | 2020-08-06 | Rotary heavy-load manipulator |
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| CN (1) | CN212870768U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119589707A (en) * | 2024-12-06 | 2025-03-11 | 安徽马钢表面技术股份有限公司 | A double-beam long-arm heavy-duty hydraulic manipulator |
-
2020
- 2020-08-06 CN CN202021622638.6U patent/CN212870768U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN119589707A (en) * | 2024-12-06 | 2025-03-11 | 安徽马钢表面技术股份有限公司 | A double-beam long-arm heavy-duty hydraulic manipulator |
| CN119589707B (en) * | 2024-12-06 | 2025-09-30 | 安徽马钢表面技术股份有限公司 | A double-beam, long-arm, heavy-load hydraulic manipulator |
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