CN2136705Y

CN2136705Y - Clamping type charging and discharging manipulators

Info

Publication number: CN2136705Y
Application number: CN 92211276
Authority: CN
Inventors: 蒋志高
Original assignee: Individual
Current assignee: Individual
Priority date: 1992-02-21
Filing date: 1992-02-21
Publication date: 1993-06-23
Anticipated expiration: 2002-02-21

Abstract

The utility model discloses a clamping type charging and discharging manipulator, comprising a big undercarriage, a small undercarriage, a rotating disc, a lifting system, a telescopic system and a rotation system. The lifting system rotates up and down round the center of a shaft under the action of torque formed by the movement of a lift cylinder. The telescopic system is that a square arm drum moves back and forth along the centerline of the square arm drum under the action of a telescopic motor, and the rotation system is that a gripping head is turned over at a 120 DEG angle in a bidirectional mode round the centerline of the square arm drum under the action of an oscillating cylinder. The gripping head comprises the outer shell of the gripping head, a movable clamping jaw, a pushing block and a pull rod, and the movable clamping jaw, the pushing block and the pull rod are arranged in the outer shell of the gripping head. The movable clamping jaw is a lever body whose intermediate section is provided with a cylindrical surface, and the cylindrical surface is arranged between the concave cylindrical surface of the inner side of the outer shell of the gripping head and the concave cylindrical surface of the upper part of the pushing block.

Description

Clamping type charging and discharging manipulators

The utility model relates to charging and discharging machine tool hand in a kind of forging industry, specifically is that a kind of forging and pressing are heated with clipping rail charging and discharging machine tool hand.

Chinese patent discloses a kind of forge furnace and the supporting charger of forging hammer for No. 87203649.It is by the big hull of vertical back and forth movement on ground rail, the little hull that on big hull, moves both vertically with the big hull direction of motion, the rotating disk of gyration on the dolly dish, the jacking system that under the torsional interaction that action forms of hoist cylinder, rotates up and down around the axle center, under flexible motor effect, square arm barrel is along the telescopic system of its center line back and forth movement and ten material steel forks are formed around two-way altogether six actions of rotation system of stirring 120 degree angles of the center line of square arm barrel.This machine is owing to adopt steel fork to take on material, thus just there is such shortcoming, i.e. clamping work securely, although steel fork has multiple forms of motion, workpiece can not form multiple motion mode, costs the long period if workpiece is placed on accurately on the station.

The purpose of this utility model provides a kind of clipping rail charging and discharging machine tool hand that has anti-burning, wear-resisting and chuck simple in structure with regard to being to overcome the shortcoming of above-mentioned prior art.

The utility model is to adopt following measure to realize its purpose.

The utility model is by the big hull of vertical back and forth movement on ground rail, the little hull that on big hull, moves both vertically with the big hull direction of motion, the rotating disk of gyration on the dolly dish, the jacking system that under the torsional interaction that action forms of hoist cylinder, rotates up and down around the axle center, under flexible motor effect, square arm barrel is along the telescopic system of its center line back and forth movement and chuck is formed around the two-way rotation system that stirs 120 degree angles of the center line of square arm barrel, and chuck is by the chuck shell with insert movable jaw in the chuck shell, and jacking block and pull bar are formed.Wherein movable jaw is that a stage casing has the lever body between the recessed cylinder that a face of cylinder and this face of cylinder place the recessed cylinder of chuck shell inboard and jacking block top.One end of movable jaw is inserted between a voussoir and the guide pad, and voussoir is connected with pull bar, and guide pad is synchronized with the movement with voussoir.The face of cylinder width of movable jaw equals the jacking block width, and seals the openend of chuck shell jointly.Big hull, little hull, rotating disk, jacking system, the used motor type oil cylinder of telescopic system and rotation system is a hydraulic means.By multi-joint hand-operated valve centralized operation and control, can make any one action independently moving, also can any two actions and action motion simultaneously more than two.

The drawing of accompanying drawing is described as follows:

Fig. 1 is the schematic diagram of seven kinds of actions that this manipulator is realized by 3 coordinates, wherein 1 walks crosswise for dolly, and 2 be the dolly stringer, and 3 for car body rotates, and 4 is the Chuck jaw clamping, and 5 is that chuck rotates, and 6 stretch out for square tube, and 7 is the oil cylinder lifting.

Fig. 2 is a front view of the present utility model,

Fig. 3 is a vertical view of the present utility model,

Fig. 4 is single folder formula chuck structure schematic diagram,

Fig. 5 is a double-jaw type chuck structure schematic diagram.

Below in conjunction with accompanying drawing the utility model is further described.

Big hull (26) is a running gear of the present utility model, and bears the little hull (20) that is mounted thereon, jacking system (12), the load of part such as turntable (22) and hydraulic mechanism.It is made up of chassis (18) and driving wheel device (17), this chassis (18) is to be the closed-in construction that skeleton becomes with the steel plate assembly welding with I-steel and channel-section steel, side is welded into the track (24) of little hull (20) with steel plate within it, driving wheel device (1) is by cart motor (19), reducing gear and wheel are to forming, its driving charger is moved along the rail of special use, be installed on the little hull (20) on the big hull track, under the driving of dolly motor (25), realize itself and the moving both vertically of big hull (26) direction of motion by gear and chain drive, the rotating disk (22) that is installed on the little hull (20) drives the worm and gear device by rotary motor (21), make it around the rotation of the axle center of worm gear, adopt oscillating bearing, to guarantee that it rotates flexibility and reliability, rotating disk (22) also bears the effect of material toggling load when rotating.Jacking system (12) is installed on the mount pad that turntable (22) stretches out by rotating shaft (23), under the effect of hoist cylinder (14), is that fulcrum rotates square arm barrel (10) up and down to make chuck (8) lifting with rotating shaft (23) center.The telescopic system (11) that is connected with jacking system (12), it forms arm is the double-cylinder type structure, be somebody's turn to do inside and outside square tube by the steel plate welding forming, stretch out the moment of flexure effect that load-carrying produces in order to bear because of the tube arm, between inside and outside square tube arm be equipped with the copper billet be the pad rail plate, and can carry out the gap adjustment, make inner square tube (10) under the driving of flexible motor (30), keep the flexible and steady of motion, chuck (8) is loaded on the front end of flexible square arm barrel (10), its turning cylinder passes interior square arm barrel (10) and is connected with the oscillating oil cylinder (15) that is loaded on square arm barrel (10) rear end and forms chuck (8) rotation system, overturns around square arm barrel (10) axis to realize chuck (8).Hydraulic system of the present utility model is by the fuel tank that is loaded on the little roof panels.Multi-joint hand-operated valve (13) and be loaded on the hydraulic pump group (16) and the composition such as revolution pipeline etc. on fuel tank top.Chuck of the present utility model can be divided into single jaw motion structure and double fastener pawl motion structure.With single jaw is example.Movable jaw (31) is a lever body, its stage casing has a face of cylinder (32), (33), another jaw (27) of single jaw is a stationary jaw, in chuck shell (35) inboard a recessed cylinder (33) is arranged, the corresponding jacking block (28) of settling a top to have recessed cylinder (32) under this recessed cylinder (33), two recessed cylinders (32), (33) face of cylinder (32) in movable jaw (31) stage casing in clamping, (33), be movable jaw (31) be subjected to the motive force of voussoir (29) can be around the face of cylinder center line of (recessed cylinder) rotate, thereby make jaw (31) press to weight, realize clamping action.

The utlity model has anti-burning, wear-resisting, advantage simple in structure, safe and reliable can be adjusted to arbitrary position according to the operation needs in use and pick up material, feeds and get material.

Claims

1, a kind of clipping rail charging and discharging machine tool hand, it is by the big hull of vertical back and forth movement on ground rail, the little hull that on big hull, moves both vertically with the big hull direction of motion, the rotating disk of gyration on the dolly dish, the jacking system that under the torsional interaction that action forms of hoist cylinder, rotates up and down around the axle center, under the effect of flexible motor, square arm barrel is formed around the two-way rotation system that stirs 120 degree angles of the center line of square arm barrel along the telescopic system of its center line back and forth movement with at oscillating oil cylinder effect lower chuck, it is characterized in that described chuck is by chuck shell and the movable jaw of inserting in the chuck shell, jacking block and pull bar are formed, and wherein movable jaw is that a stage casing has the lever body between the recessed cylinder that a face of cylinder and this face of cylinder place the recessed cylinder of chuck shell inboard and jacking block top.

2, clipping rail charging and discharging machine tool hand according to claim 1 is characterized in that an end of described movable jaw is inserted between a voussoir and the guide pad, and voussoir is connected with pull bar, and guide pad is synchronized with the movement with voussoir.

3, clipping rail charging and discharging machine tool hand according to claim 2 is characterized in that the face of cylinder width of active clip hand equals the jacking block width, and seals the openend of chuck shell jointly.

4, clipping rail charging and discharging machine tool hand according to claim 3 is characterized in that described big hull, little hull, rotating disk, jacking system, and the used motor type oil cylinder of telescopic system rotation system is a hydraulic means.

5, clipping rail charging and discharging machine tool hand according to claim 4 is characterized in that by multi-joint hand-operated valve centralized operation and control, can make any one action independently moving, also can any two actions and action motion simultaneously more than two.