CN108161892A - A kind of manipulator carried for mold - Google Patents
A kind of manipulator carried for mold Download PDFInfo
- Publication number
- CN108161892A CN108161892A CN201810252496.XA CN201810252496A CN108161892A CN 108161892 A CN108161892 A CN 108161892A CN 201810252496 A CN201810252496 A CN 201810252496A CN 108161892 A CN108161892 A CN 108161892A
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- frame
- mechanical arm
- along
- sliding slot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulators carried for mold,Leading truck is welded with including gantry base and one side,Upper end is fixed with frame shape rack,The frame shape rack lower end and electronic placement rack device and its are equipped with above the leading truck is by vertical support column,Lateral connection frame,Longitudinally connected frame one,Rectangle sliding slot one,Longitudinal sliding block,Fork-shaped link and telescopic cylinder one form,The frame shape rack both sides inner end is equipped with vertical chute,Upright slide block,Vertical fastening frame,Longitudinally connected frame two and lifting cylinder,The vertical fastening frame upper end be respectively articulated with cross-brace frame and its between be equipped with position electric control gear,The position electric control gear is by rectangle sliding slot two,Screw,Rotary electric machine,Travelling nut,Work shape sliding shoe and grabbing device composition,The grabbing device is by main mechanical arm,Connecting rod,Tilt cylinders two,Secondary mechanical arm and grabbing assembly composition.The invention has the advantages that of simple structure and strong practicability.
Description
Technical field
The present invention relates to mechanical manufacturing field, particularly a kind of manipulator carried for mold.
Background technology
Mold is because of the reasons such as its build, dead weight, artificial to carry not only so that work effect so as to be not suitable for artificially going to carry
Rate lowly also adds the burden of worker simultaneously；It is encountered in some factories now using Manipulator Transportation mold, passed sometimes
The robotic device of system is made of primary and secondary mechanical arm and grabbing assembly, and traditional primary and secondary mechanical arm single line stress works as chance
To when carrying heavier article, the stress overloading of primary and secondary mechanical arm can be caused；Existing robotic device structure is more complicated, work(
It can be more single.
Invention content
The purpose of the present invention is to solve the above problems, devise a kind of manipulator carried for mold, this kind of machine
Tool hand equipment is convenient for the carrying of mold, also significantly reduces the burden of worker while working efficiency is improved, which can be with
Realize the multiple functions such as height is adjusted, position adjusts, rolls over, it is simple in structure, it is vdiverse in function, by primary and secondary mechanical arm list
Line stress is changed to the multi-thread stress of primary and secondary mechanical arm, virtually so that the stress upper limit of primary and secondary mechanical arm improves so that set
Standby working range increase, while but also the service life of equipment improves.
Realize above-mentioned purpose the technical scheme is that, a kind of manipulator carried for mold, including gantry base,
The gantry base lower end and both sides are respectively equipped with movable pulley along its length, along the gantry base length direction both ends and
Perpendicular to its same side, extreme direction is fixedly welded with leading truck respectively, and the leading truck on-fixed end is respectively arranged below with universal
Wheel, the gantry base upper end are fixed with frame shape rack, the frame shape rack lower end and are equipped with above the leading truck
Electronic placement rack device, the electronic placement rack device are by leading truck on-fixed end top and correspond position difference
The lateral connection frame that is respectively equipped between the vertical support column that is equipped with, vertical support top end and the frame shape rack two side ends,
The frame shape rack lower end and corresponding lateral connection set up that seated position horizontal direction is equipped with along the frame shape rack width direction
Longitudinally connected frame one, the lateral connection frame rectangle of certain length that corresponds end face and be provided with along its length respectively slides
Slot one, both sides sliding end are located in rectangle sliding slot one and can be sliding along the longitudinal sliding block, longitudinal direction that one length direction of rectangle sliding slot slides
The fork-shaped link being movably equipped between one upper end of block upper end and longitudinally connected frame and longitudinal sliding block lower end and longitudinally connected frame one
The telescopic cylinder one being equipped between lower end forms, and the frame shape rack is had along its width direction both sides inner end along its height
The vertical chute in direction can be respectively equipped with the upright slide block slided along its length, the upright slide block in the vertical chute
Outer end can be respectively welded vertical fastening frame, and the vertical fastening frame is equipped with longitudinally connected frame between corresponding end middle part
Two, the vertical fastening frame upper end has been respectively articulated with cross-brace frame, the vertical fastening frame lower end and the cross-brace
Tilt cylinders one can be respectively equipped between frame, longitudinally connected one upper center of frame is fixed with lifting cylinder and the lifting
The upward piston rod end of cylinder is connect with the longitudinally connected frame two, and the automatically controlled dress in position is equipped between the cross-brace frame
It puts, the position electric control gear is the fixed length for being corresponded end face by the cross-brace frame and being provided with along its length respectively
Medium position is equipped between the rectangle sliding slot two of degree, the cross-brace frame correspond screw along its length is set
In on the longitudinally connected frame two and connect with screw round end rotary electric machine, be placed on outside screw several travelling nuts,
Both sides sliding end is located in rectangle sliding slot two and can be slided along the work shape sliding shoe that two length direction of rectangle sliding slot slides and with work shape
The grabbing device composition of motion block connection, the grabbing device is by being uniformly hinged with along the work shape sliding shoe direction of advance rear end
Several main mechanical arms, main mechanical arm be hinged apart from it connecting rod being equipped between end position certain length, along the work shape slide
The tilt cylinders two that are equipped between motion block direction of advance front center and connecting rod, along main mechanical arm lengths direction and its corresponding hinge
Connect end position opposite side be respectively articulated with by secondary mechanical arm and secondary mechanical arm lower end between the grabbing assembly that is equipped with form.
The fork-shaped link is the rectangle sliding slot one, rectangle by being flexibly connected in the middle part of two root long shape links
Two both ends of sliding slot are not open, and several supports can be uniformly provided between bottom end in the longitudinally connected frame one and the gantry base
Column.
The screw stretches out in the middle part of the work shape sliding shoe in the horizontal direction, the travelling nut outside and the work
Shape sliding shoe is equipped with active connection between running through inner end.
The active connection is by being placed on steel inner ring outside the travelling nut, running through with the work shape sliding shoe
Several balls composition that radians is waited to be uniformly provided between the steel outer ring of inner end connection and steel inner ring and steel outer ring.
The secondary mechanical arm has a down dip setting, secondary mechanical arm hinged end distance end certain distance length thereon, described
Secondary mechanical arm along between its downdip direction upper end and the main mechanical arm updip direction upper end be equipped with tilt cylinders three.
The main mechanical arm quantity can be set as four, and be uniformly arranged, and the secondary mechanical arm corresponds to the cross-brace respectively
Medium position vertical direction is obliquely installed between frame corresponds.
The grabbing assembly be several arch fixed frames being uniformly provided with respectively by work head, work head lower edge,
The piston rod being fixed in the middle part of work head lower end telescopic cylinder two straight down and it is flexibly connected connection with arch fixed frame
Arch gripper composition, the arch gripper upper end is flexibly connected with the piston rod end of the telescopic cylinder two, institute
Work head and the secondary mechanical arm end end that has a down dip is stated to be movably connected with
Bottom end can be equipped with supply unit and control device in the frame shape rack, and the frame shape rack rear end can be equipped with pushing hands
And operation panel.
The operation panel is equipped with power knob and several operation keys, and the supply unit is set as accumulator group, described
Control device and operation panel are electrically connected with the positive and negative grade of supply unit power supply.
PLC system is equipped in the control device and controls the telescopic cylinder one, telescopic cylinder two, tilt cylinders respectively
First, tilt cylinders two, tilt cylinders three, rotary electric machine, lifting cylinder control module.
The manipulator carried for mold made using technical scheme of the present invention, this kind of robotic device are convenient for mold
Carrying, also significantly reduce the burden of worker while working efficiency is improved, the equipment can realize height adjust, position
The multiple functions such as adjust, roll over, it is simple in structure, it is vdiverse in function, primary and secondary mechanical arm single line stress is changed to primary and secondary machine
The multi-thread stress of tool arm, virtually so that the stress upper limit of primary and secondary mechanical arm improves so that the working range increase of equipment,
Simultaneously but also the service life of equipment improves.
Description of the drawings
Fig. 1 is the overall structure diagram of the manipulator of the present invention carried for mold；
Fig. 2 is electronic placement frame device structure plan view of the present invention；
Fig. 3 is two plan-position structure diagram of longitudinally connected frame of the present invention；
Fig. 4 is one position plane schematic diagram of tilt cylinders of the present invention；
Fig. 5 is electric control gear structure diagram in position of the present invention；
Fig. 6 is grabbing device partial structural diagram of the present invention；
Fig. 7 is grabbing assembly structure diagram of the present invention；
In figure, 1, gantry base；2nd, movable pulley；3rd, leading truck；4th, universal wheel；5th, frame shape rack；6th, electronic placement is rack-mounted
It puts；7th, vertical support column；8th, lateral connection frame；9th, longitudinally connected frame one；10th, rectangle sliding slot one；11st, longitudinal sliding block；12nd, fork-shaped
Link；13rd, telescopic cylinder one；14th, vertical chute；15th, upright slide block；16th, vertical fastening frame；17th, longitudinally connected frame two；
18th, cross-brace frame；19th, tilt cylinders one；20th, lifting cylinder；21st, position electric control gear；22nd, rectangle sliding slot two；23rd, silk
Bar；24th, rotary electric machine；25th, travelling nut；26th, work shape sliding shoe；27th, grabbing device；28th, main mechanical arm；29th, connecting rod；
30th, tilt cylinders two；31st, secondary mechanical arm；32nd, grabbing assembly；33rd, active connection；34th, work head；35th, arch fixed frame；
36th, telescopic cylinder two；37th, arch gripper；38th, tilt cylinders three.
Specific embodiment
The present invention is specifically described below in conjunction with the accompanying drawings, as shown in figs. 1-7, a kind of machinery carried for mold
Hand, including gantry base 1,1 lower end of gantry base and both sides are respectively equipped with movable pulley 2 along its length, along the machine
1 length direction both ends of frame pedestal and it is fixedly welded with leading truck 3 respectively perpendicular to its same side extreme direction, the leading truck 3 is non-
Fixing end is respectively arranged below with universal wheel 4, and 1 upper end of gantry base is fixed with frame shape rack 5, under the frame shape rack 5
It holds and is equipped with electronic placement rack device 6 positioned at 3 top of leading truck, the electronic placement rack device 6 is by the leading truck 3
Above on-fixed end and correspond vertical support column 7,7 top of vertical support column and the frame shape rack that position is respectively equipped with
Lateral connection frame 8,5 lower end of frame shape rack and the corresponding 8 installation position water of lateral connection frame being respectively equipped between 5 two side ends
Square to equipped with longitudinally connected frame 1, the lateral connection frame 8 along 5 width direction of frame shape rack correspond end face and
Rectangle sliding slot 1, the both sides sliding end for the certain length being provided with along its length respectively are located in rectangle sliding slot 1 and can
Between one 9 upper end of longitudinal sliding block 11,11 upper end of longitudinal sliding block and longitudinally connected frame slided along one 10 length direction of rectangle sliding slot
The telescopic cylinder one being equipped between one 9 lower end of fork-shaped link 12 and 11 lower end of longitudinal sliding block and longitudinally connected frame being movably equipped with
13 compositions, the frame shape rack 5 has the vertical chute 14 along its short transverse along its width direction both sides inner end, described
The upright slide block 15 slided along its length can be respectively equipped in vertical chute 14,15 outer end of upright slide block can weld respectively
Vertical fastening frame 16 is connected to, the vertical fastening frame 16 is equipped with longitudinally connected frame 2 17 between corresponding end middle part, described perpendicular
Straight 16 upper end of fastening frame has been respectively articulated with cross-brace frame 18, vertical 16 lower end of fastening frame and the cross-brace frame 18
Between can be respectively equipped with tilt cylinders 1, longitudinally connected one 9 upper center of frame is fixed with lifting cylinder 20 and described
The upward piston rod end of lifting cylinder 20 is connect with the longitudinally connected frame 2 17, and position is equipped between the cross-brace frame 18
Electric control gear 21 is put, the position electric control gear 21 is to correspond end face and respectively along length side by the cross-brace frame 18
Between rectangle sliding slot 2 22, the cross-brace frame 18 to the certain length being provided with correspond medium position be equipped with along its
The screw 23 of length direction, the rotary electric machine 24 being connect on the longitudinally connected frame 2 17 and with 23 round end of screw, set
Several travelling nuts 25, both sides sliding end outside screw 23 are located in rectangle sliding slot 2 22 and can be grown along rectangle sliding slot 2 22
The degree direction work shape sliding shoe 26 slided and the grabbing device 27 being connect with work shape sliding shoe 26 form, and the grabbing device 27 is
It is cut with scissors by several main mechanical arms 28, the main mechanical arm 28 that are uniformly hinged with along the 26 direction of advance rear end of work shape sliding shoe apart from it
Connect the connecting rod 29 being equipped between end position certain length, along the 26 direction of advance front center of work shape sliding shoe and connecting rod
The tilt cylinders 2 30 that are equipped between 29 are respectively articulated with along 28 length direction of main mechanical arm and its corresponding hinged end position opposite side
By 31 lower end of secondary mechanical arm 31 and secondary mechanical arm between the grabbing assembly 32 that is equipped with form；The fork-shaped link 12 is by two
It is flexibly connected in the middle part of root long shape link, the rectangle sliding slot 1,2 22 both ends of rectangle sliding slot are not open, the longitudinal direction
In link 1 and the gantry base 1 several support columns can be uniformly provided between bottom end；The screw 23 passes through in the horizontal direction
It wears 26 middle part of work shape sliding shoe to stretch out, 25 outside of travelling nut and the work shape sliding shoe 26 are set between inner end
There is active connection 33；The active connection 33 is steel inner ring and the work by being placed on outside the travelling nut 25
It is several that shape sliding shoe 26 waits radians to be uniformly provided between the steel outer ring of inner end connection and steel inner ring and steel outer ring
Ball forms；The secondary mechanical arm 31 has a down dip setting, secondary 31 hinged end of mechanical arm distance end certain distance length thereon,
The secondary mechanical arm 31 along between 28 updip direction upper end of its downdip direction upper end and the main mechanical arm be equipped with tilt cylinders
3 38；28 quantity of main mechanical arm can be set as four, and be uniformly arranged, and the secondary mechanical arm 31 corresponds to the cross-brace respectively
Medium position vertical direction is obliquely installed between frame 18 corresponds；The grabbing assembly 32 is by work head 34, work head 34
The piston rod being fixed in the middle part of several arch fixed frames 35 for being uniformly provided with respectively at lower edge, 34 lower end of work head is vertical
It downward telescopic cylinder 2 36 and the arch gripper 37 of connection is flexibly connected with arch fixed frame 35 forms, the arch machinery
37 upper end of pawl is flexibly connected with the piston rod end of the telescopic cylinder 2 36, the work head 34 and the secondary mechanical arm 31
It has a down dip and end is held to be movably connected with；Bottom end can be equipped with supply unit and control device, the frame shape machine in the frame shape rack 5
5 rear end of frame can be equipped with pushing hands and operation panel；The operation panel is equipped with power knob and several operation keys, the power supply dress
It installs and is electrically connected for accumulator group, the control device and operation panel and the positive and negative grade of supply unit power supply；The control dress
PLC system is equipped in putting and controls the telescopic cylinder 1, telescopic cylinder 2 36, tilt cylinders 1, tilt cylinders respectively
2 30, tilt cylinders 3 38, rotary electric machine 24, lifting cylinder 20 control module.
The features of the present invention is a kind of manipulator carried for mold, including gantry base, gantry base lower end and edge
Its length direction both sides is respectively equipped with movable pulley, along gantry base length direction both ends and perpendicular to its same side extreme direction difference
Leading truck is fixedly welded with, leading truck on-fixed end is respectively arranged below with universal wheel, and gantry base upper end is fixed with frame shape machine
Frame, frame shape rack lower end and is equipped with electronic placement rack device above the leading truck, and electronic placement rack device is non-by leading truck
Above fixing end and correspond vertical support column, vertical support top end and frame shape rack two side ends that position is respectively equipped with it
Between the lateral connection frame, frame shape rack lower end and the corresponding lateral connection that are respectively equipped with set up that seated position horizontal direction is equipped with along frame
Longitudinally connected frame one, the lateral connection frame of shape rack width direction correspond end face and be provided with along its length respectively one
Rectangle sliding slot one, the both sides sliding end of measured length are located in rectangle sliding slot one and can be slided along one length direction of rectangle sliding slot and is vertical
The fork-shaped link being movably equipped between one upper end of sliding block, longitudinal sliding block upper end and longitudinally connected frame and longitudinal sliding block lower end with
The telescopic cylinder one being equipped between longitudinally connected one lower end of frame forms, and frame shape rack has along its width direction both sides inner end
The upright slide block slided along its length, upright slide block can be respectively equipped with along the vertical chute of its short transverse, in vertical chute
Outer end can be respectively welded vertical fastening frame, and vertical fastening frame is equipped with longitudinally connected frame two between corresponding end middle part, erects
Straight fastening frame upper end has been respectively articulated with cross-brace frame, can be respectively equipped with and incline between vertical fastening frame lower end and cross-brace frame
Oblique cylinder one, longitudinally connected one upper center of frame are fixed with lifting cylinder and the upward piston rod end and longitudinal direction of lifting cylinder
Link two connects, and position electric control gear is equipped between cross-brace frame, position electric control gear is mutually right by cross-brace frame
The rectangle sliding slot two of the certain length answered end face and be provided with along its length respectively, cross-brace frame middle position between corresponding
Rotary electric machine, the set for install some screws along its length, connecting on longitudinally connected frame two and with screw round end
Several travelling nuts, both sides sliding end outside screw are located in rectangle sliding slot two and can be slided along two length direction of rectangle sliding slot
Dynamic work shape sliding shoe and the grabbing device composition being connect with work shape sliding shoe, grabbing device are by along work shape sliding shoe advance side
Several main mechanical arms, the main mechanical arm being uniformly hinged with to the back-end are hinged the connection being equipped between end position certain length apart from it
Bar, along the tilt cylinders two being equipped between work shape sliding shoe direction of advance front center and connecting rod, along main mechanical arm lengths side
To and the crawl group that is equipped between the secondary mechanical arm that is respectively articulated with of its corresponding hinged end position opposite side and secondary mechanical arm lower end
Part forms, this kind of robotic device is convenient for the carrying of mold, and the negative of worker is also significantly reduced while working efficiency is improved
Load, which can realize that height is adjusted, position such as adjusts, rolls at the multiple functions, simple in structure, vdiverse in function, by master,
Secondary mechanical arm single line stress is changed to the multi-thread stress of primary and secondary mechanical arm, virtually so that the stress upper limit of primary and secondary mechanical arm
It improves so that the working range increase of equipment, while but also the service life of equipment improves.
In the present invention, the movable pulley and universal wheel that are equipped with facilitate the transfer of equipment, and the electronic placement rack device being equipped with is used
In the placement of mold, control device control telescopic cylinder one operates, and longitudinal sliding block is driven to be slided along one length direction of rectangle sliding slot,
Fork-shaped link is used for the placement of mold.Frame shape rack is fixed at gantry base upper end, and the lifting cylinder being equipped with is used to adjust
The height of longitudinally connected frame two, longitudinally connected frame two can by the upright slide block that is equipped with along vertical chute short transverse slide so as to
Realize that height is adjusted.The tilt cylinders one being equipped with can be used for adjusting the inclination angle of cross-brace frame, control device control rotation electricity
The running of machine, rotary electric machine drive screw rotation, are placed on travelling nut outside screw and are slided by active connection band shape of starting building
Motion block is along the two length direction straight reciprocating motion of rectangle sliding slot.Work shape sliding shoe is connected with grabbing device, main mechanical arm and work shape
Sliding shoe direction of advance rear end is hinged, and secondary mechanical arm is hinged with main mechanical arm upper end, and the tilt cylinders two being equipped with are used to adjust master
The top rade of mechanical arm, the tilt cylinders three being equipped with are used to adjust the angle of declination of time mechanical arm, and secondary mechanical arm lower end is equipped with crawl
Component.When piston rod in telescopic cylinder two moves down, arch gripper upper end is driven to move down, so as to fulfill of arch gripper
It opens；When the piston rod in telescopic cylinder two drives arch gripper upper end to move up, gripper folds, so as to fulfill crawl.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solution of the present invention, those skilled in the art
The principle of the present invention is embodied to some variations that some of which part may be made, belongs to the scope of protection of the present invention it
It is interior.
Claims (10)
1. a kind of manipulator carried for mold, including gantry base (1), which is characterized in that gantry base (1) lower end
And both sides are respectively equipped with movable pulley (2) along its length, it is along the gantry base (1) length direction both ends and same perpendicular to it
Side extreme direction is fixedly welded with leading truck (3) respectively, and leading truck (3) the on-fixed end is respectively arranged below with universal wheel (4),
Gantry base (1) upper end is fixed with frame shape rack (5), frame shape rack (5) lower end and positioned at the leading truck (3)
Top is equipped with electronic placement rack device (6), and the electronic placement rack device (6) is by above the leading truck (3) on-fixed end
And correspond vertical support column (7), vertical support column (7) top and frame shape rack (5) both sides that position is respectively equipped with
Lateral connection frame (8), frame shape rack (5) lower end and corresponding lateral connection frame (8) installation position being respectively equipped between end
Horizontal direction is equipped with mutually right along longitudinally connected frame one (9), the lateral connection frame (8) of frame shape rack (5) width direction
Rectangle sliding slot one (10), the both sides sliding end for the certain length answered end face and be provided with along its length respectively are located at rectangle sliding slot
It and can be along longitudinal sliding block (11), longitudinal sliding block (11) upper end and the longitudinal direction of the slip of rectangle sliding slot one (10) length direction in one (10)
The fork-shaped link (12) being movably equipped between link one (9) upper end and longitudinal sliding block (11) lower end and longitudinally connected frame one
(9) telescopic cylinder one (13) composition being equipped between lower end, the frame shape rack (5) are opened respectively along its width direction both sides inner end
Have a vertical chute (14) along its short transverse, can be respectively equipped in the vertical chute (14) slide along its length it is vertical
Sliding block (15), upright slide block (15) outer end can be respectively welded vertical fastening frame (16), the vertical fastening frame (16)
Longitudinally connected frame two (17) is equipped between corresponding in the middle part of end, vertical fastening frame (16) upper end has been respectively articulated with lateral branch
Support (18) can be respectively equipped with tilt cylinders one between vertical fastening frame (16) lower end and the cross-brace frame (18)
(19), it is upward to be fixed with lifting cylinder (20) and the lifting cylinder (20) for described one (9) upper center of longitudinally connected frame
Piston rod end is connect with the longitudinally connected frame two (17), and position electric control gear is equipped between the cross-brace frame (18)
(21), the position electric control gear (21) is to be corresponded end face by the cross-brace frame (18) and opened along its length respectively
Between the rectangle sliding slot two (22) of some certain lengths, the cross-brace frame (18) correspond medium position be equipped with along its
The screw (23) of length direction, on the longitudinally connected frame two (17) and the rotary electric machine that is connect with screw (23) round end
(24), the external several travelling nuts (25) of screw (23) are placed on, both sides sliding end is located in rectangle sliding slot two (22) and can edge
The work shape sliding shoe (26) that rectangle sliding slot two (22) length direction slides and the grabbing device being connect with work shape sliding shoe (26)
(27) it forms, the grabbing device (27) is several by being uniformly hinged with along work shape sliding shoe (26) the direction of advance rear end
Main mechanical arm (28), main mechanical arm (28) are hinged the connecting rod (29) being equipped between end position certain length apart from it, along described
The tilt cylinders two (30) that are equipped between work shape sliding shoe (26) direction of advance front center and connecting rod (29), along main mechanical arm
(28) under length direction and its corresponding hinged end position opposite side are respectively articulated with secondary mechanical arm (31) and secondary mechanical arm (31)
Grabbing assembly (32) composition being equipped between end.
A kind of 2. manipulator carried for mold according to claim 1, which is characterized in that the fork-shaped link
(12) it is the rectangle sliding slot one (10), rectangle sliding slot two (22) both ends by being flexibly connected in the middle part of two root long shape links
It is not open, several support columns can be uniformly provided between the longitudinally connected frame one (9) and the gantry base (1) interior bottom end.
3. a kind of manipulator carried for mold according to claim 1, which is characterized in that the screw (23) is along water
It square is stretched out in the middle part of the work shape sliding shoe (26), the travelling nut (25) is external with the work shape sliding shoe (26)
Active connection (33) is equipped between inner end.
A kind of 4. manipulator carried for mold according to claim 3, which is characterized in that the active connection
(33) it is by being placed on the external steel inner ring of the travelling nut (25), being connect with the work shape sliding shoe (26) through inner end
Several balls composition that radians are uniformly provided with is waited between steel outer ring and steel inner ring and steel outer ring.
A kind of 5. manipulator carried for mold according to claim 1, which is characterized in that the secondary mechanical arm (31)
Have a down dip setting, secondary mechanical arm (31) hinged end distance end certain distance length thereon, the secondary mechanical arm (31) along its
Tilt cylinders three (38) are equipped between downdip direction upper end and the main mechanical arm (28) updip direction upper end.
A kind of 6. manipulator carried for mold according to claim 1, which is characterized in that the main mechanical arm (28)
Quantity can be set as four, and be uniformly arranged, and the secondary mechanical arm (31) corresponds to the cross-brace frame (18) and corresponds it respectively
Between medium position vertical direction be obliquely installed.
A kind of 7. manipulator carried for mold according to claim 1, which is characterized in that the grabbing assembly (32)
It is several arch fixed frames (35) being uniformly provided with respectively by work head (34), work head (34) lower edge, work head
(34) piston rod being fixed in the middle part of lower end telescopic cylinder two (36) straight down and with arch fixed frame (35) activity even
Arch gripper (37) composition connect in succession, arch gripper (37) upper end and the piston of the telescopic cylinder two (36)
Boom end is flexibly connected, and the work head (34) has a down dip with the secondary mechanical arm (31) holds end to be movably connected with.
A kind of 8. manipulator carried for mold according to claim 1, which is characterized in that the frame shape rack (5)
Interior bottom end can be equipped with supply unit and control device, and frame shape rack (5) rear end can be equipped with pushing hands and operation panel.
9. a kind of manipulator carried for mold according to claim 1, which is characterized in that set on the operation panel
Have power knob and a several operation keys, the supply unit be set as accumulator group, the control device and operation panel with it is described
The positive and negative grade of supply unit power supply is electrically connected.
10. a kind of manipulator carried for mold according to claim 1, which is characterized in that in the control device
The telescopic cylinder one (13) is controlled equipped with PLC system and respectively, telescopic cylinder two (36), tilt cylinders one (19), tilts gas
Cylinder two (30), tilt cylinders three (38), rotary electric machine (24), lifting cylinder (20) control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810252496.XA CN108161892A (en) | 2018-03-26 | 2018-03-26 | A kind of manipulator carried for mold |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810252496.XA CN108161892A (en) | 2018-03-26 | 2018-03-26 | A kind of manipulator carried for mold |
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| Publication Number | Publication Date |
|---|---|
| CN108161892A true CN108161892A (en) | 2018-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810252496.XA Withdrawn CN108161892A (en) | 2018-03-26 | 2018-03-26 | A kind of manipulator carried for mold |
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| CN109228051A (en) * | 2018-09-21 | 2019-01-18 | 李宗利 | It is a kind of for carrying the handling device of tire-mold |
| CN110007050A (en) * | 2019-04-01 | 2019-07-12 | 四川纽赛特工业机器人制造有限公司 | A kind of semi-automatic detection trolley of weld seam |
| CN111550081A (en) * | 2020-05-26 | 2020-08-18 | 正如(广东)机器人科技有限公司 | Building support robot |
| CN114161392A (en) * | 2021-12-16 | 2022-03-11 | 徐州永佳液压设备有限公司 | Machine tool mechanical arm slewing mechanism |
| CN115446580A (en) * | 2022-10-08 | 2022-12-09 | 沈阳建筑大学 | Full-automatic robot mounting structure with flexible disassembly and assembly functions |
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| CN107717945A (en) * | 2017-10-30 | 2018-02-23 | 成都灵感元素科技有限公司 | A kind of anti-terrorism robot |
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| CN205272035U (en) * | 2016-01-21 | 2016-06-01 | 武汉科技大学 | Engineering machine tool arm of force |
| CN106426076A (en) * | 2016-08-18 | 2017-02-22 | 无锡百禾工业机器人有限公司 | Convenient assistance manipulator |
| CN107139158A (en) * | 2017-06-20 | 2017-09-08 | 芜湖蓝天工程塑胶有限公司 | Removable Simple manipulator |
| CN107717945A (en) * | 2017-10-30 | 2018-02-23 | 成都灵感元素科技有限公司 | A kind of anti-terrorism robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108621119A (en) * | 2018-07-09 | 2018-10-09 | 薛敏强 | A kind of rotation displacement material carrying machine arm and its working method |
| CN108621120A (en) * | 2018-07-09 | 2018-10-09 | 薛敏强 | A kind of conveying machinery arm of Multifunctional rotary displacement that capableing of branch's feeding |
| CN109228051A (en) * | 2018-09-21 | 2019-01-18 | 李宗利 | It is a kind of for carrying the handling device of tire-mold |
| CN109228051B (en) * | 2018-09-21 | 2021-01-05 | 浙江黎盛新材料科技有限公司 | Carrying device for carrying tire molds |
| CN110007050A (en) * | 2019-04-01 | 2019-07-12 | 四川纽赛特工业机器人制造有限公司 | A kind of semi-automatic detection trolley of weld seam |
| CN110007050B (en) * | 2019-04-01 | 2022-01-25 | 四川纽赛特工业机器人制造有限公司 | Semi-automatic detection trolley for welding seam |
| CN111550081A (en) * | 2020-05-26 | 2020-08-18 | 正如(广东)机器人科技有限公司 | Building support robot |
| CN114161392A (en) * | 2021-12-16 | 2022-03-11 | 徐州永佳液压设备有限公司 | Machine tool mechanical arm slewing mechanism |
| CN115446580A (en) * | 2022-10-08 | 2022-12-09 | 沈阳建筑大学 | Full-automatic robot mounting structure with flexible disassembly and assembly functions |
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Application publication date: 20180615 |