CN106424514B - Hot upsetting-extruding feeding manipulator - Google Patents
Hot upsetting-extruding feeding manipulator Download PDFInfo
- Publication number
- CN106424514B CN106424514B CN201611010607.3A CN201611010607A CN106424514B CN 106424514 B CN106424514 B CN 106424514B CN 201611010607 A CN201611010607 A CN 201611010607A CN 106424514 B CN106424514 B CN 106424514B
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- Prior art keywords
- gear
- incomplete
- manipulator body
- roller
- arm
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- 230000007246 mechanism Effects 0.000 claims abstract description 74
- 230000033001 locomotion Effects 0.000 claims abstract description 27
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000001125 extrusion Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Toys (AREA)
- Transmission Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a hot upsetting extrusion feeding manipulator which comprises a driving device, an arm swing mechanism and an arm swing mechanism, wherein the arm swing mechanism is arranged on the driving device; the driving device is a motor and provides power for the movement of the arm swing mechanism and the arm swing mechanism; the arm slewing mechanism comprises an incomplete gear mechanism, a cylindrical gear mechanism and a manipulator body, the manipulator body and the incomplete gear mechanism transmit motion through a coupler, and the incomplete gear mechanism is meshed with the cylindrical gear mechanism and drives the manipulator body to make intermittent slewing motion; the arm swinging mechanism is installed on the manipulator body and swings up and down relative to the manipulator body. The invention realizes the intermittent up-and-down swing of the mechanical arm by means of the cam and the rocker mechanism, realizes the intermittent rotary motion of the mechanical arm body by means of the incomplete gear mechanism and the cylindrical gear mechanism, has simple structure, easy realization, small occupied space, low cost, good stability, long-time uninterrupted work and high efficiency.
Description
Technical field
The present invention relates to a kind of hot upsetting squeeze feeding mechanical hands, belong to manipulator technical field.
Background technology
Manipulator can imitate some holding functions of human hand and arm, be object or behaviour are captured, carried by fixed routine
Make the automatic pilot of instrument.Manipulator is the industrial robot occurred earliest and the modern machines people that occurs earliest, it
It can replace the heavy labor of people that can operate to protect personal peace under hostile environment to realize the mechanization of production and automation
Entirely.At present, many feeding mechanical hands are bulky on the market, complicated, and cost is higher, can not meet the need of medium-sized and small enterprises
It asks.
The content of the invention
The present invention the technical problem to be solved is that：Overcome the deficiencies of the prior art and provide a kind of hot upsetting squeeze feeder
Tool hand, it is simple in structure, at low cost, and stability is good.
In order to solve the above-mentioned technical problem, the technical scheme is that：A kind of hot upsetting squeeze feeding mechanical hand, including driving
Device, arms swing mechanism and arm swing mechanism；The driving device is motor, it is returned for arms swing mechanism and arm
The movement of rotation mechanism provides power；The arm swing mechanism includes incomplete gear mechanism, cylindrical gear mechanism and manipulator
Body, manipulator body are transferred by shaft coupling with incomplete gear mechanism and moved, incomplete gear mechanism and Cylinder Gear turbine
Structure is meshed, and manipulator body is driven to make intermittent-rotation movement；The arms swing mechanism is mounted on manipulator body, phase
It is swung up and down for manipulator body.
Further provide for the drive mechanism of a kind of incomplete gear mechanism and cylindrical gear mechanism, the partial gear machine
Structure includes incomplete internal gear and incomplete external gear, and the cylindrical gear mechanism includes and incomplete internal gear matched the
One roller gear and with matched second roller gear of incomplete external gear, when incomplete internal gear and the first roller gear are nibbled
When conjunction, incomplete external gear are not engaged with the second roller gear, manipulator body rotates in the forward direction；When incomplete internal gear and first
When roller gear does not engage, incomplete external gear is engaged with the second roller gear, manipulator body reversed turning.
Further, the toothed portion of the incomplete internal gear point occupies 120 degree, the toothed portion point of the incomplete external gear
Occupy 240 degree.
Further for the rotation of manipulator body is made not influence the swing of arms swing mechanism, the arms swing mechanism
Including cam rocking bar machine is formed with leveling molecular cam mechanism, connecting rod, sliding block, rocking bar and stent, stent, rocking bar and sliding block with a roller
Structure, one end of connecting rod are connected on roller, and the other end is connected on sliding block, and on rocking bar, one end of rocking bar is hinged on slide block set
On stent；The manipulator body includes intermeshing first conical gear and the second conical gear, the cam and first
Conical gear axis connection, and cam rotation is driven, roller drives connecting rod to move up and down with the rotation of cam, so as to fulfill machinery
Hand is swung up and down, and the rotation of manipulator body does not influence the swing of arms swing mechanism.
Further, the rocking bar swings up and down 15 degree.
Vertical rotary motion is converted into further for by horizontal revolving motion, the output shaft of the motor passes through a band
Wheel combination and the 3rd conical gear axis connection, the 3rd conical gear are meshed with the 4th conical gear, so as to rotate horizontally fortune
Turn turns to vertical rotary motion.
Further, the belt wheel combination includes the output shaft of a small pulley and a big belt wheel, small pulley and motor
Connection, big small pulley pass through belt transmission.
After employing above-mentioned technical proposal, the invention has the advantages that：
1) present invention realizes that the interval of mechanical arm is swung up and down by cam and rocker device, by partial gear
Mechanism realizes that the intermittent-rotation of manipulator body moves with cylindrical gear mechanism, has the advantages of simple structure and easy realization, occupied space
Small, at low cost, stability is good, can long-time non-stop run, it is efficient；
2) present invention by motor provides power source, by belt wheel combination and the 3rd conical gear, the 4th conical gear,
Horizontal revolving motion is converted into vertical rotary motion, power is provided for incomplete gear mechanism；
3) cam mechanism of the invention is located at the inside of manipulator body, and the rotation of manipulator body does not influence mechanical arm
Swing；
4) by changing the continuous number of teeth of incomplete external gear and the driving wheel of incomplete internal gear, i.e., shared by toothed portion
According to angle, to change the rotation angle of manipulator body；It is realized by changing the contour curve of cam above and below mechanical arm
The angle of swing, so as to fulfill designated movement.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structure diagram of the arms swing mechanism of the present invention；
Fig. 3 is the structure diagram of the arm swing mechanism of the present invention；
Fig. 4 is the incomplete internal gear of the present invention and the mesh schematic representation of the first roller gear；
Fig. 5 is the incomplete external gear of the present invention and the mesh schematic representation of the second roller gear；
In figure, 1, motor, 2, small pulley, 3, belt, the 4, the 3rd conical gear, the 5, the 4th conical gear, the 6, first circle
Stud wheel, the 7, second roller gear, 9, cam, 10, roller, 11, connecting rod, 12, rocking bar, 13, sliding block, 14, stent, 15, first
Conical gear, the 16, second conical gear, 17, manipulator body, 19, shaft coupling, 20, incomplete external gear, 21, not exclusively in
Gear, 22, big belt wheel, 23, incomplete gear mechanism.
Specific embodiment
In order that the present invention can be more clearly and readily understood, it is right below according to specific embodiment and with reference to attached drawing
The present invention is described in further detail.
As shown in Figure 1, a kind of hot upsetting squeeze feeding mechanical hand, including driving device, arms swing mechanism and arm turn-around machine
Structure；The driving device is motor 1, it provides power for the movement of arms swing mechanism and arm swing mechanism；The hand
Revolution of arm mechanism include incomplete gear mechanism 23, cylindrical gear mechanism and manipulator body 17, manipulator body 17 with it is endless
All gear mechanism 23 is transferred by shaft coupling 19 and moved, and incomplete gear mechanism 23 is meshed with cylindrical gear mechanism, and drives
Manipulator body 17 makees intermittent-rotation movement；The arms swing mechanism is mounted on manipulator body 17, compared with manipulator
Body 17 is swung up and down.
Preferably, as shown in Figure 1, Figure 3, the incomplete gear mechanism includes incomplete internal gear 21 and incomplete external tooth
Wheel 20, the cylindrical gear mechanism include with incomplete 21 matched first roller gear 6 of internal gear and with incomplete external tooth
20 matched second roller gears 7 are taken turns, when incomplete internal gear 21 engages with the first roller gear 6, incomplete external gear 20
When not engaged with the second roller gear 7, manipulator body 17 rotates in the forward direction；When incomplete 21 and first roller gear 6 of internal gear
It does not engage, when incomplete external gear 20 is engaged with the second roller gear 7,17 reversed turning of manipulator body.
Optionally, as shown in Figure 4, Figure 5, the toothed portion of the incomplete internal gear 21 point occupies 120 degree, it is described not exclusively
The toothed portion of external gear 20 point occupies 240 degree, can pass through the company for the driving wheel for changing incomplete external gear and incomplete internal gear
The continuous number of teeth, i.e. angle occupied by toothed portion, to adjust the rotation angle of manipulator body 17.
Preferably, as shown in Figure 1 and Figure 2, the arms swing mechanism include cam mechanism that cam 9 and roller 10 form,
Connecting rod 11, sliding block 13, rocking bar 12 and stent 14, stent 14, rocking bar 12 and sliding block 13 form rocker device, and one end of connecting rod 11 connects
It is connected on roller 10, the other end is connected on sliding block 13, and sliding block 13 is sleeved on rocking bar 12, and one end of rocking bar 12 is hinged on stent 14
On；The manipulator body 17 includes intermeshing first conical gear, 15 and second conical gear 16, the cam 9 and the
One conical gear, 15 axis connection, and rotated with moving cam 9, roller 10 drives connecting rod 11 to move up and down with the rotation of cam 9, from
And realize swinging up and down for mechanical arm, the rotation of manipulator body 17 does not influence the swing of arms swing mechanism.
Optionally, the rocking bar 12 swings up and down 15 degree, can realize mechanical arm by changing the contour curve of cam
The adjusting of the angle swung up and down.
Preferably, as shown in Figure 1, the output shaft of the motor 1 is connected by belt wheel combination with 4 axis of the 3rd conical gear
It connects, the 3rd conical gear 4 is meshed with the 4th conical gear 5, so as to which horizontal revolving motion is converted into vertical rotary motion.
Optionally, as shown in Figure 1, belt wheel combination includes a small pulley 2 and a big belt wheel 22, small pulley 2 and
The output axis connection of motor 1, big small pulley are driven by belt 3.
The operation principle of the present invention is as follows：
As shown in Figure 1, motor 1 after small pulley 2 and big belt wheel 22 slow down, passes through the 3rd conical gear 4 and the 4th circle
Horizontal revolving motion is become vertical rotary motion, i.e. axial rotation motion by bevel gear 5, and axial rotation motion at this time passes through connection
19 and first conical gear 15 of axis device and the second conical gear 16 pass to cam 9, are put into mechanical arm as shown in Figure 2
Motivation structure, roller 10 drive connecting rod 11 to move up and down with the rotation of cam 9, and first 15 degree of the bottom of rocking bar 12 completes feeding action
It is upper again afterwards to put 15 degree；At this point, in the incomplete gear mechanism 23 as shown in Fig. 3,4,5, when incomplete internal gear 21 and first is justified
When stud wheel 6 engages, incomplete external gear 20 is not engaged with the second roller gear 7, manipulator body 17 rotates in the forward direction 120 degree,
Then incomplete internal gear 21 terminates engagement, and 15 degree of the mechanical arm swing mechanism bottom above puts 15 degree again after completing blowing action；
Then incomplete internal gear 21 is not engaged with the first roller gear 6, incomplete external gear 20 is engaged with the second roller gear 7
When, 120 degree of 17 reversed turning of manipulator body completes a Xun Huan.
The present invention realizes that the interval of mechanical arm is swung up and down by cam and rocker device, by partial gear machine
Structure realizes that the intermittent-rotation of manipulator body moves with cylindrical gear mechanism, has the advantages of simple structure and easy realization, occupies little space,
At low cost, stability is good, can long-time non-stop run, it is efficient.
The present invention provides power source by motor, will by belt wheel combination and the 3rd conical gear, the 4th conical gear
Horizontal revolving motion is converted into vertical rotary motion, and power is provided for incomplete gear mechanism.
The cam mechanism of the present invention is located at the inside of manipulator body, and the rotation of manipulator body does not influence mechanical arm
It swings.
By changing the continuous number of teeth of incomplete external gear and the driving wheel of incomplete internal gear, i.e., occupied by toothed portion
Angle, to change the rotation angle of manipulator body；The bottom on mechanical arm is realized by changing the contour curve of cam
Dynamic angle, so as to fulfill designated movement.
Particular embodiments described above, pair present invention solves the technical problem that, technical solution and advantageous effect carry out
It is further described, it should be understood that the above is only a specific embodiment of the present invention, is not limited to this
Invention, within the spirit and principles of the invention, any modification, equivalent substitution, improvement and etc. done should be included in this hair
Within bright protection domain.
Claims (5)
1. a kind of hot upsetting squeeze feeding mechanical hand, it is characterised in that：Including driving device, arms swing mechanism and arm turn-around machine
Structure；The driving device is motor (1), it provides power for the movement of arms swing mechanism and arm swing mechanism；It is described
Arm swing mechanism includes incomplete gear mechanism (23), cylindrical gear mechanism and manipulator body (17), manipulator body
(17) transferred and moved by shaft coupling (19) with incomplete gear mechanism (23), incomplete gear mechanism (23) and Cylinder Gear turbine
Structure is meshed, and manipulator body (17) is driven to make intermittent-rotation movement；The arms swing mechanism is mounted on manipulator body
(17) on, swung up and down compared with manipulator body (17)；
The incomplete gear mechanism includes incomplete internal gear (21) and incomplete external gear (20), the cylindrical gear mechanism
Including the first roller gear (6) matched with incomplete internal gear (21) and with incomplete external gear (20) matched second
Roller gear (7), when incomplete internal gear (21) is engaged with the first roller gear (6), incomplete external gear (20) is justified with second
When stud wheel (7) does not engage, manipulator body (17) rotates in the forward direction；When incomplete internal gear (21) and the first roller gear (6)
It does not engage, when incomplete external gear (20) is engaged with the second roller gear (7), manipulator body (17) reversed turning；
The arms swing mechanism includes the cam mechanism that cam (9) forms with roller (10), connecting rod (11), sliding block (13), shakes
Bar (12) and stent (14), stent (14), rocking bar (12) and sliding block (13) form rocker device, and one end of connecting rod (11) is connected to
On roller (10), the other end is connected on sliding block (13), and sliding block (13) is sleeved on rocking bar (12), and one end of rocking bar (12) is hinged on
On stent (14)；The manipulator body (17) includes intermeshing first conical gear (15) and the second conical gear
(16), the cam (9) and the first conical gear (15) axis connection, and rotated with moving cam (9), roller (10) drives connecting rod
(11) move up and down with the rotation of cam (9), so as to fulfill swinging up and down for mechanical arm, the rotation of manipulator body (17)
The swing of arms swing mechanism is not influenced.
2. hot upsetting squeeze feeding mechanical hand according to claim 1, it is characterised in that：The band of the incomplete internal gear (21)
Toothed portion occupies 120 degree, and the toothed portion point of the incomplete external gear (20) occupies 240 degree.
3. hot upsetting squeeze feeding mechanical hand according to claim 2, it is characterised in that：The rocking bar (12) swings up and down 15
Degree.
4. hot upsetting squeeze feeding mechanical hand according to claim 2, it is characterised in that：The output shaft of the motor (1) leads to
Belt wheel combination and the 3rd conical gear (4) axis connection are crossed, the 3rd conical gear (4) is meshed with the 4th conical gear (5), from
And horizontal revolving motion is converted into vertical rotary motion.
5. hot upsetting squeeze feeding mechanical hand according to claim 4, it is characterised in that：The belt wheel combination includes a small band
(2) and a big belt wheel (22), the output axis connection of small pulley (2) and motor (1) are taken turns, big small pulley is passed by belt (3)
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611010607.3A CN106424514B (en) | 2016-11-17 | 2016-11-17 | Hot upsetting-extruding feeding manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611010607.3A CN106424514B (en) | 2016-11-17 | 2016-11-17 | Hot upsetting-extruding feeding manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106424514A CN106424514A (en) | 2017-02-22 |
| CN106424514B true CN106424514B (en) | 2018-05-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611010607.3A Active CN106424514B (en) | 2016-11-17 | 2016-11-17 | Hot upsetting-extruding feeding manipulator |
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| CN (1) | CN106424514B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107059193B (en) * | 2017-04-17 | 2019-03-22 | 江南大学 | A kind of continuous pair of ring section color bunchy yarn process units and production method |
| CN107267981B (en) * | 2017-07-14 | 2019-05-31 | 芜湖鼎恒材料技术有限公司 | A kind of linear laser cladding apparatus for Corrugator roller external arc flank of tooth reparation |
| CN108996201B (en) * | 2018-09-19 | 2023-10-20 | 常州纺织服装职业技术学院 | Feeding mechanism with rectangular motion trail |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3546956A (en) * | 1969-08-11 | 1970-12-15 | Leland F Blatt | Harmonic actuating unit for a power operated workpiece gripping and handling mechanism |
| CN201645484U (en) * | 2010-02-26 | 2010-11-24 | 华南理工大学 | Robot applied in engine air valve electric upsetting hot forging forming process |
| CN104400781A (en) * | 2014-11-18 | 2015-03-11 | 河海大学常州校区 | Material feeding manipulator |
| CN206215840U (en) * | 2016-11-17 | 2017-06-06 | 常州机电职业技术学院 | Hot upsetting-extruding feeding manipulator |
-
2016
- 2016-11-17 CN CN201611010607.3A patent/CN106424514B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3546956A (en) * | 1969-08-11 | 1970-12-15 | Leland F Blatt | Harmonic actuating unit for a power operated workpiece gripping and handling mechanism |
| CN201645484U (en) * | 2010-02-26 | 2010-11-24 | 华南理工大学 | Robot applied in engine air valve electric upsetting hot forging forming process |
| CN104400781A (en) * | 2014-11-18 | 2015-03-11 | 河海大学常州校区 | Material feeding manipulator |
| CN206215840U (en) * | 2016-11-17 | 2017-06-06 | 常州机电职业技术学院 | Hot upsetting-extruding feeding manipulator |
Non-Patent Citations (2)
| Title |
|---|
| 热镦挤送料机械手;无;《百度文库》;20111224;第1-19页 * |
| 热镦挤送料机械手;无;《百度文库》;20150625;第1-8页 * |
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| Publication number | Publication date |
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| CN106424514A (en) | 2017-02-22 |
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Effective date of registration: 20201221 Address after: No.4-30, zone 4, Wenzhou Trade City, No.1, Wenzhou street, Liuzhou City, Guangxi Zhuang Autonomous Region Patentee after: Liuzhou qinghang Intellectual Property Service Co.,Ltd. Address before: 213000 No. 26 Mingxin Middle Road, Hutang Town, Wujin District, Changzhou City, Jiangsu Province Patentee before: CHANGZHOU VOCATIONAL INSTITUTE OF MECHATRONIC TECHNOLOGY |
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Effective date of registration: 20210428 Address after: No.189 Xiyuan Avenue, Haian hi tech Zone (former Hai'an town), Haian City, Nantong City, Jiangsu Province 226600 Patentee after: Kaiyu Hardware Products (Nantong) Co.,Ltd. Address before: 545000 no.4-30, District 4, Wenzhou commercial city, No.1 Wenzhou street, Liuzhou City, Guangxi Zhuang Autonomous Region Patentee before: Liuzhou qinghang Intellectual Property Service Co.,Ltd. |
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