CN108620934A - A kind of manipulator for numerical control machine - Google Patents
A kind of manipulator for numerical control machine Download PDFInfo
- Publication number
- CN108620934A CN108620934A CN201810455385.9A CN201810455385A CN108620934A CN 108620934 A CN108620934 A CN 108620934A CN 201810455385 A CN201810455385 A CN 201810455385A CN 108620934 A CN108620934 A CN 108620934A
- Authority
- CN
- China
- Prior art keywords
- motor
- manipulator
- clamp arm
- rotation seat
- numerical control
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of manipulator for numerical control machine, including：Pedestal, rotation seat, first motor, support column, the second motor, girder, adjusting rod, third motor, connecting rod, triangular supports, expansion bend, clamping part, the 4th motor；Pedestal is equipped with multiple castors, rotation seat is located above pedestal, rotation seat is connect with base rotation, first motor is for driving rotation seat to rotate horizontally, support column is located at hinged with rotation seat, second motor is for driving support column to be rotated up and down, it is column articulated with support in the middle part of girder, adjusting rod is hinged with rotation seat, third motor is for driving adjusting rod to be rotated up and down, connecting rod both ends are hinged with the rear end of adjusting rod and girder respectively, the first end of triangular supports is hinged with girder front end, the second end of triangular supports is connect with expansion bend one end, the third end of triangular supports and the shell of clamping part connect, 4th motor is for driving gear to rotate, keep a pair of of clamp arm close to each other or detaches.
Description
Technical field
The present invention relates to manipulator field, especially a kind of manipulator for numerical control machine.
Background technology
Manipulator is a kind of certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object
Or the automatic pilot of operation instrument.Manipulator is the industrial robot occurred earliest, and the modern machines occurred earliest
People, it can replace the heavy labor of people to realize the mechanization and automation of production, can be operated under hostile environment to protect people
Body safety, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Typically no dedicated manipulator on traditional numerically-controlled machine tool needs that part is manually placed on lathe when processing part
On special fixture.
The Chinese invention patent of notification number CN203919060U discloses a kind of Novel numerical control machine manipulator assembly, including
First axis pin 1, throttle valve mounting plate 2, the first sucker fixing piece 3, crossbeam fixing piece 4, support element 5, tracheae fixed plate 6, rubber cushion
7, the second axis pin 8, polyurethane backing plate 9, sucker adjusting rod 10, waveform sucker 11, the second sucker fixing piece 12, pneumatic joint 13,
Nut block 14, cylinder rod 15, washer 16, quick coupling 17, adapter 18 and collateral support 19；The throttle valve mounting plate 2 is installed
In left end on manipulator；The first sucker fixing piece 3 is set to left side on manipulator；The crossbeam fixing piece 4 is set to
Manipulator right side on the whole；The support element 5 is connect with crossbeam fixing piece 4；The tracheae fixed plate 6 and manipulator lower-left end
Connection；The rubber cushion 7 is set to the pump housing upper end of 6 front end of fixed plate；The polyurethane backing plate 9 passes through the second axis pin 8 and machinery
At hand end rotation connection；The sucker adjusting rod 10 is connect with the second sucker fixing piece 12；The waveform sucker 11 and sucker tune
Pole 10 connects；The pneumatic joint 13 is set to 12 left end of the second sucker fixing piece, and is connect with the second sucker fixing piece 12；
The nut block 14 is set to bottom end in manipulator；15 bottom end of the cylinder rod is inserted in nut block 14；The quick coupling
17 are set to 2 left bottom end of throttle valve mounting plate；The adapter 18 is by the first axis pin 1 and is set to manipulator top left hand
19 connection of collateral support.
Existing manipulator for numerical control machine needs are connected and fixed with numerically-controlled machine tool, and manipulator is immovable, operating distance
It is shorter.
Invention content
Present invention aims at provide a kind of transportable manipulator for numerical control machine.
In order to achieve the above-mentioned advantages, manipulator for numerical control machine provided by the invention includes：Pedestal, rotation seat, first motor, branch
Dagger, the second motor, girder, adjusting rod, third motor, connecting rod, triangular supports, expansion bend, clamping part, the 4th motor；
The pedestal is equipped with multiple castors, which is located above the pedestal, which connect with the base rotation, the first motor
For driving the rotation seat to rotate horizontally, which is located at is hinged with the rotation seat, and second motor is described for driving
Support column is rotated up and down, column articulated with the support in the middle part of the girder, the adjusting rod with the rotation seat hingedly, the third motor
For driving the adjusting rod to be rotated up and down, the connecting rod both ends hinge with the rear end of the adjusting rod and the girder respectively
Connect, the first end of the triangular supports and the girder front end it is hinged, the second end of the triangular supports with it is described flexible
Device one end connects, and the third end of the triangular supports connect with the shell of the clamping part, the other end of the expansion bend and
Hinged in the middle part of the support column, the clamping part includes a pair of of clamp arm, and the clamp arm rear end has gear, the gear and the folder
The housing hinge in portion is held, the 4th motor keeps a pair of clamp arm close to each other or separation for driving the gear to rotate.
In one embodiment of the invention, the expansion bend is electric cylinder.
In one embodiment of the invention, the first motor, second motor, the third motor, described
Four motors are servo motor.
In one embodiment of the invention, the clamp arm front has notch corresponding with object to be captured.
In one embodiment of the invention, the clamp arm front end is equipped with binocular vision sensor and laser radar, uses
In the complaint message for the ambient enviroment for carrying out inspecting manipuator, and by being mounted on clamp arm and pedestal, rotation seat, support column, master
3-dimensional digital compass in beam, adjusting rod and connecting rod grasps the posture information of itself, realizes the avoidance and obstacle detouring of manipulator.
In one embodiment of the invention, silicagel pad is installed in the clamp arm, and the inner wall of silicagel pad and clamp arm it
Between pressure sensor is installed.
In one embodiment of the invention, further include a PLC controller, input terminal and the binocular vision of the controller pass
Sensor and laser radar, 3-dimensional digital compass and pressure sensor are connected, output end and first motor, the second motor, third
Motor, expansion bend, clamp arm, the 4th motor and multiple castors are connected.
In the present invention, pedestal is provided with transportable castor, the moving method of manipulator is increased, due in girder
Portion and support are column articulated, and rearward, the weight bigger that clamping part can be clamped on the whole, girder front end length is more for the center of gravity of girder
It is long；By binocular vision sensor and laser radar come the complaint message of inspecting manipuator ambient enviroment, and pass through 3-dimensional digital
Compass grasps the posture information of itself, realizes the avoidance of manipulator and the positioning of obstacle detouring and target object.
Description of the drawings
Fig. 1 show a kind of structural schematic diagram of existing Novel numerical control machine manipulator assembly.
Fig. 2 show the structural schematic diagram of the manipulator for numerical control machine of first embodiment of the invention.
Fig. 3 show the front view of the manipulator for numerical control machine of Fig. 2.
Fig. 4 show the partial enlarged view of the clamping part of Fig. 2.
Specific implementation mode
It is of the invention to reach the technological means and effect that predetermined goal of the invention is taken further to illustrate, below in conjunction with
Attached drawing and preferred embodiment are described in detail to proposing specific implementation mode, structure, feature and its effect according to the present invention as after.
Fig. 2-4 is referred to, the manipulator for numerical control machine of first embodiment of the invention includes：Pedestal 1, rotation seat 2, first
Motor 3, support column 4, the second motor 5, girder 6, adjusting rod 7, third motor 8, connecting rod 9, triangular supports 10, expansion bend
11, clamping part 12, the 4th motor 13；The pedestal 1 is equipped with multiple castor 1a, which is located at 1 top of pedestal, the rotation
Seat 2 is rotatablely connected with the pedestal 1, and for driving the rotation seat 2 to rotate horizontally, which is located at and this first motor 3
Rotation seat 2 is hinged, and for driving the support column 4 to be rotated up and down, which cuts with scissors second motor 5 with the support column 4
It connects, which is hinged with the rotation seat 2, the third motor 8 is used to that the adjusting rod 7 to be driven to be rotated up and down, the connecting rod
9 both ends respectively with the hinged of the rear end of the adjusting rod 7 and the girder 6, the triangular supports 10 first end with it is described
6 front end of girder is hinged, and the second end of the triangular supports 10 is connect with 11 one end of the expansion bend, the triangular supports 10
Third end is connect with the shell 12a of the clamping part 12, and the other end of the expansion bend 11 is cut with scissors with 4 middle part of the support column
It connects, the clamping part 12 includes a pair of of clamp arm 120, and 120 rear end of the clamp arm has gear, the gear and the clamping part 12
Shell 12a is hinged, and the 4th motor 13 is for driving the gear to rotate, keeping a pair of clamp arm 120 close to each other or dividing
From.
The expansion bend 11 is electric cylinder.
The first motor 3, second motor 5, the third motor 8, the 4th motor 13 are servo motor.
120 front of the clamp arm has notch 120a corresponding with object to be captured.
The clamp arm front end is equipped with binocular vision sensor and laser radar, is used to come the ambient enviroment of inspecting manipuator
Complaint message, and pass through the three-dimensional in clamp arm and pedestal, rotation seat, support column, girder, adjusting rod and connecting rod
Digital compass grasps the posture information of itself, realizes the avoidance and obstacle detouring of manipulator, while realizing determining for object position
The execution of subsequent grasping movement is convenient in position.
Silicagel pad is installed in the clamp arm, and pressure sensor is installed between silicagel pad and the inner wall of clamp arm, a side
Face can be used for detect the clamping whether clamp arm successfully completes object, on the other hand can also avoid due between two clamp arm away from
It is excessive from chucking power caused by too small, cause the damage to object.
Further include a PLC controller, input terminal and binocular vision sensor and laser radar, the 3-dimensional digital of the controller
Compass and pressure sensor are connected, output end and first motor, the second motor, third motor, expansion bend, clamp arm, the 4th electricity
Machine and multiple castors are connected.
In the present invention, pedestal 1 is provided with transportable castor 1a, the moving method of manipulator is increased, due to master
The middle part of beam 6 and support column 4 are hinged, the center of gravity of girder 6 rearward, the weight bigger that clamping part 12 can be clamped on the whole, before girder 6
Hold length longer.
More than, only it is presently preferred embodiments of the present invention, is not intended to limit the present invention in any form, although this
Invention is disclosed above with preferred embodiment, and however, it is not intended to limit the invention, any person skilled in the art,
It does not depart within the scope of technical solution of the present invention, when the technology contents using the disclosure above make a little change or are modified to equivalent
The equivalent embodiment of variation, as long as being without departing from technical solution of the present invention content, according to the technical essence of the invention to above real
Any simple modification, equivalent variations and modification made by example are applied, in the range of still falling within technical solution of the present invention.
Claims (7)
1. a kind of manipulator for numerical control machine, which is characterized in that including：Pedestal, rotation seat, first motor, support column, the second electricity
Machine, girder, adjusting rod, third motor, connecting rod, triangular supports, expansion bend, clamping part, the 4th motor；The pedestal is equipped with more
A castor, the rotation seat are located above the pedestal, which connect with the base rotation, and the first motor is described for driving
Rotation seat rotates horizontally, which is located at is hinged with the rotation seat, and second motor is for driving backspin on the support column
Turn, column articulated with the support in the middle part of the girder, which is hinged with the rotation seat, the third motor is described for driving
Adjusting rod is rotated up and down, the connecting rod both ends respectively with the rear end of the adjusting rod and the hinged of the girder, the triangle branch
The first end of frame is hinged with the girder front end, and the second end of the triangular supports is connect with described expansion bend one end, should
The third end of triangular supports is connect with the shell of the clamping part, the other end of the expansion bend and support column middle part
Hinged, the clamping part includes a pair of of clamp arm, and there is gear, the shell of the gear and the clamping part to cut with scissors for the clamp arm rear end
It connects, the 4th motor keeps a pair of clamp arm close to each other or separation for driving the gear to rotate.
2. a kind of manipulator for numerical control machine according to claim 1, which is characterized in that the expansion bend is electric cylinder.
3. a kind of manipulator for numerical control machine according to claim 1, which is characterized in that the first motor, described
Two motors, the third motor, the 4th motor are servo motor.
4. a kind of manipulator for numerical control machine according to claim 1, which is characterized in that the clamp arm front has and waits for
Capture the corresponding notch of object.
5. a kind of manipulator for numerical control machine according to claim 1, which is characterized in that the clamp arm front end is equipped with double
Mesh visual sensor and laser radar are used to come the complaint message of the ambient enviroment of inspecting manipuator, and by being mounted on clamp arm
And the 3-dimensional digital compass in pedestal, rotation seat, support column, girder, adjusting rod and connecting rod grasps the posture information of itself,
Realize the avoidance and obstacle detouring of manipulator.
6. a kind of manipulator for numerical control machine according to claim 1, which is characterized in that be equipped with silica gel in the clamp arm
Pad, and pressure sensor is installed between silicagel pad and the inner wall of clamp arm.
7. a kind of manipulator for numerical control machine according to claim 1, which is characterized in that further include a PLC controller, it should
The input terminal of controller is connected with binocular vision sensor and laser radar, 3-dimensional digital compass and pressure sensor, output
End is connected with first motor, the second motor, third motor, expansion bend, clamp arm, the 4th motor and multiple castors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810455385.9A CN108620934A (en) | 2018-05-14 | 2018-05-14 | A kind of manipulator for numerical control machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810455385.9A CN108620934A (en) | 2018-05-14 | 2018-05-14 | A kind of manipulator for numerical control machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108620934A true CN108620934A (en) | 2018-10-09 |
Family
ID=63693048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810455385.9A Pending CN108620934A (en) | 2018-05-14 | 2018-05-14 | A kind of manipulator for numerical control machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108620934A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531250A (en) * | 2018-11-30 | 2019-03-29 | 江苏省连云港工贸高等职业技术学校 | A kind of electromechanical integration lathe for machining |
| CN113232236A (en) * | 2021-05-13 | 2021-08-10 | 安徽天堂唯高塑业科技有限公司 | Injection molding mechanical arm with visual guide positioning function |
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| CN202049666U (en) * | 2011-01-23 | 2011-11-23 | 北京联合大学生物化学工程学院 | Teaching instrument of arm transmission structure of robot |
| CN102922516A (en) * | 2012-11-23 | 2013-02-13 | 莱芜精瑞模具有限公司 | Pneumatic power assisting industrial robot |
| CN205870557U (en) * | 2016-07-12 | 2017-01-11 | 迈赫机器人自动化股份有限公司 | Nimble robot that controls on a large scale |
| CN106314577A (en) * | 2016-08-23 | 2017-01-11 | 西安科技大学 | Autonomous obstacle surmounting and avoiding walking control method for six-track and four-swing-arm rescue robot |
| CN106363618A (en) * | 2016-08-29 | 2017-02-01 | 河海大学常州校区 | Picking mechanical hand |
| CN206748461U (en) * | 2017-04-25 | 2017-12-15 | 东莞勤德五金制品有限公司 | A kind of grasping mechanism for diel |
| CN207014348U (en) * | 2017-05-17 | 2018-02-16 | 广州珀锐赛斯机械有限公司 | A kind of new automobile fixture manipulator |
-
2018
- 2018-05-14 CN CN201810455385.9A patent/CN108620934A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202049666U (en) * | 2011-01-23 | 2011-11-23 | 北京联合大学生物化学工程学院 | Teaching instrument of arm transmission structure of robot |
| CN102922516A (en) * | 2012-11-23 | 2013-02-13 | 莱芜精瑞模具有限公司 | Pneumatic power assisting industrial robot |
| CN205870557U (en) * | 2016-07-12 | 2017-01-11 | 迈赫机器人自动化股份有限公司 | Nimble robot that controls on a large scale |
| CN106314577A (en) * | 2016-08-23 | 2017-01-11 | 西安科技大学 | Autonomous obstacle surmounting and avoiding walking control method for six-track and four-swing-arm rescue robot |
| CN106363618A (en) * | 2016-08-29 | 2017-02-01 | 河海大学常州校区 | Picking mechanical hand |
| CN206748461U (en) * | 2017-04-25 | 2017-12-15 | 东莞勤德五金制品有限公司 | A kind of grasping mechanism for diel |
| CN207014348U (en) * | 2017-05-17 | 2018-02-16 | 广州珀锐赛斯机械有限公司 | A kind of new automobile fixture manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531250A (en) * | 2018-11-30 | 2019-03-29 | 江苏省连云港工贸高等职业技术学校 | A kind of electromechanical integration lathe for machining |
| CN113232236A (en) * | 2021-05-13 | 2021-08-10 | 安徽天堂唯高塑业科技有限公司 | Injection molding mechanical arm with visual guide positioning function |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181009 |
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| RJ01 | Rejection of invention patent application after publication |