CN2657879Y

CN2657879Y - Manipulator with 8-freedom for loading and unloading

Info

Publication number: CN2657879Y
Application number: CN 200320121010
Authority: CN
Inventors: 蒋志高
Original assignee: Individual
Current assignee: Individual
Priority date: 2003-11-28
Filing date: 2003-11-28
Publication date: 2004-11-24
Anticipated expiration: 2013-11-28

Abstract

The utility model discloses a manipulator with 8-freedom for loading and unloading, which is mounted from bottom to top with a base, an upper machine plate, a rotary working table, and a sleeve, the manipulator arm is supported in the sleeve, an automatically clamping mechanical chuck is mounted on one end of the manipulator arm, a rotation mechanism that can make the mechanical chuck to turn over is arranged on the other end, a parallel four bar mechanism is mounted on the rotary working table, the mechanism consists of an under support rod, a pull rod, a front and a back support rod fixed on the sleeve, the rear hinged point is mounted on the rotary working table, the under part of back support rod and the under support rod are hinge-connected with the back hinged point, the upper part of the front support rod is hinge-connected with one end of the pull rod, the other end of the pull rod is hinge-connected with the under part of the back support rod; the back and front ends of the level lift oil cylinder are separately hinge-connected with the rotary working table and the sleeve, the back and front ends of the upward and downward tilting oil cylinder are separately hinge-connected with the rotary working table and the outer point of the parallel four bar mechanism. The manipulator has 8 degrees of freedom for loading and unloading materials at different height, and can lift and flex to load and unload materials quickly and agilely.

Description

The eight degrees of freedom charging and discharging manipulator

Technical field

The utility model belongs to manipulator, specifically a kind of manipulator that eight frees degree are arranged that is used to adorn, get machined material.

Background technology

The patent No. is 92211276, name is called " clipping rail charging and discharging machine tool hand ", be that a kind of next door at processing equipment is equipped with a rail plate, but the end hull that back and forth movement is arranged on the guide rail, be installed on the end hull, the end hull direction of motion is made the last hull move both vertically relatively, on the last hull rotary table is installed, the upper lateral of workbench is equipped with the telescopic arm of band mechanical chuck and is enclosed within the outer sleeve of telescopic arm, mechanical chuck can be in sleeve be stirred around the center of arm is two-way, also can swing up and down around a fulcrum, thereby make manipulator that 7 degree of freedom be arranged, for example when forging workpiece with forging hammer, by people's controlling electric device button and hydraulic handle, can finish automatically to pick up by manipulator and expect and deliver to the overall process of processing on the anvil block from ground.But, because processing workbench or anvil block are higher, as the workbench of the press of cutting edge is up to 1.3 meters more than, its telescopic arm length of manipulator of loading and unloading material must be done longlyer, has stretched brachium and has wanted to reach necessary strength, will make more sturdyly, require parallel rising and falling and take, put material, it is fast that the raising of working (machining) efficiency also requires to take, put the material work tempo, and the telescopic arm of the manipulator of sturdy heaviness and depend merely on it and swing up and down, and is difficult to finish above-mentioned to picking and placeing material steadily and the fast demand of work tempo.

The utility model content

In order to make manipulator flexible lifting pick and place material steadily, and it is fast to reach beat again, with the various processing operating efficiencies that go up, the technical solution of the utility model is: charging and discharging manipulator comprises following parts and mechanism: the bottom has the end hull of wheel, be installed in the last hull that can do perpendicular to the motion of the end hull direction of motion is arranged on the end hull, on the last hull rotary table is installed, the upper lateral of rotary table is provided with sleeve, the sleeve internal support has telescopic mechanical arm, mechanical arm one end is equipped with the mechanical chuck of band automatic clamping device, the other end of mechanical arm be equipped with can make mechanical chuck around the center of arm the two-way chuck rotating mechanism that stirs, the parallel four-bar linkage of oblique biasing is installed on above-mentioned rotary table, this mechanism is by oblique lower fulcrum bar, the pull bar that lower fulcrum bar top is in parallel and the front support rod at two ends, back stay is formed, back twisted point is installed on the rotary table, the oblique upper end of the bottom of back stay and lower fulcrum bar is connected with back twisted point hinge, the lower end of front support rod is fixed on the sleeve, one end of pull bar is connected with the upper end hinge of front support rod, the other end is connected with the upper hinge of back stay, the following angled end of lower fulcrum bar is connected with described sleeve hinge, the rear end of horizontal flat oil-lifting jar is connected with the rotary table hinge, and the tailpiece of the piston rod of flat oil-lifting jar is connected with the sleeve hinge; The rear portion of facing upward the oil cylinder of bowing is connected with the rotary table hinge, and the tailpiece of the piston rod of facing upward the oil cylinder of bowing connects with the external point hinge of parallel four connecting rods of stretching out of described back stay.

In the time of need taking, putting material, the slew gear of the operation end, last hull walking mechanism, rotary table, mechanical chuck on the mechanical arm is positioned at more than the gripped object, and the primer fluid pressing system is operated the described oil cylinder of bowing of facing upward, its piston rod is with the back twisted point jack-up on the parallel four-bar linkage, motionless because of flat oil-lifting jar, mechanical arm is fallen, the chuck on it leans against by the gripped object, operate machine chuck rotating mechanism and chuck clamp mechanism clamp gripped object again; Operate flat oil-lifting jar, it is motionless to face upward the oil cylinder of bowing, and the piston rod of flat oil-lifting jar will push up on the lower fulcrum bar on the parallel four-bar linkage, mechanical arm drive mechanical chuck and on gripped object rise; Operate flat oil-lifting jar and face upward the oil cylinder of bowing, walking, slew gear simultaneously, gripped object can be sent to exactly required send as places such as processing workbench, calcination fire doors, or take off from above-mentioned place.Owing on the basis of former " clipping rail charging and discharging machine tool hand ", increased flat oil-lifting jar system and parallel four-bar linkage, can realize facing upward on the basis of bowing at mechanical arm, increased the flat free degree that rises again, become the eight degrees of freedom charging and discharging manipulator, mechanical arm need not to extend and the situation of overstriking under, not only satisfied manipulator and steadily adorned the requirement of getting material at differing heights, and can make mechanical arm stretch, face upward the fast and flexible ground dress of bowing, rise and fall to get and expect the position, satisfied the demand that working (machining) efficiency improves.

Description of drawings

The utility model is described in further detail below in conjunction with drawings and Examples.

Fig. 1 is a structural representation of the present utility model;

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

Fig. 3 is the vertical view of Fig. 2;

Fig. 4 faces upward the mobile structural representation of bowing, rise and fall for mechanical arm among Fig. 1.

The specific embodiment

Fig. 1, Fig. 2, among Fig. 3, at dress, the bottom of reclaimer robot, the bottom surface of end hull 3 is equipped with the wheel that can walk, the end hull 3 of described band wheel, can as the other fixed guide of installing of large-scale die hammer on back and forth movement, also can on general plane, walk arbitrarily, the last hull 4 that its direction of motion relatively moves both vertically is installed on the end hull 3, on the last hull 4 rotary table 10 is installed, top at rotary table 10, laterally be provided with sleeve 14, sleeve 14 internal supports have can be by the mechanical arm 2 of telescoping mechanism 16 stretching motions, one end of mechanical arm 2 is equipped with the mechanical chuck 1 of band automatic clamping device 15, the other end of mechanical arm 2 be equipped with can make mechanical chuck 1 around the center of arm two-way stir 360 the degree chuck rotating mechanisms 13, the parallel four-bar linkage (referring to Fig. 4) of oblique biasing is installed on above-mentioned rotary table 10, this mechanism is by oblique lower fulcrum bar 8, the pull bar 6 in parallel and the front support rod 5 at parallel four-bar linkage two ends, leg-of-mutton back stay 9 is formed, the lower end of front support rod 5 is fixed on the sleeve 14, one end of pull bar 6 is connected with the upper end hinge of front support rod 5, the other end is connected with the upper hinge of back stay 9, back twisted point 7 is fixed on the rotary table 10, the oblique upper end of the bottom of back stay 9 and lower fulcrum bar 8 is connected with back twisted point 7 hinges, the following angled end of lower fulcrum bar 8 is connected with described sleeve 14 hinges, the rear end of horizontal flat oil-lifting jar 12 is connected with rotary table 10 hinges, and the tailpiece of the piston rod of flat oil-lifting jar 12 is connected with the middle part hinge of sleeve 14; The rear portion of facing upward the oil cylinder 11 of bowing is connected with rotary table 10 hinges, and the tailpiece of the piston rod of facing upward the oil cylinder 11 of bowing connects with the external point hinge of parallel four connecting rods of stretching out of described back stay 9.

Owing on the basis of former " clipping rail charging and discharging machine tool hand ", increased flat oil-lifting jar 12 and parallel four-bar linkage, mechanical arm 2 can realized facing upward on the basis of bowing, increased one degree of freedom again---the flat liter, become the eight degrees of freedom charging and discharging manipulator, mechanical arm 2 need not to extend and the situation of overstriking under, not only satisfied manipulator and steadily adorned the requirement of getting material at differing heights, and can be under the effect of flat oil-lifting jar 12, make mechanical arm 2 stretch, face upward and bow, rise and fall flexibly, put in place fast, satisfied the demand that working (machining) efficiency improves.

For after manipulator dress being got expect the position, end hull 3, rotating disk motion the stopping braking of going up hull 4 and rotary table 10 are fast, can the end, on band-type brake open in usual system is set on the rotating disk of wheel under the

hull

3 and 4 and rotary table 10.

The utility model can be used for the material that takes, puts of processing usefulness such as large-scale die hammer, can also be used for all and can replace other places of a dead lift material to use.

Claims

1, a kind of eight degrees of freedom charging and discharging manipulator, comprise that the bottom has the end hull of wheel, be installed in the last hull that can do perpendicular to the motion of the end hull direction of motion is arranged on the end hull, on the last hull rotary table is installed, upper lateral at rotary table is provided with sleeve, the sleeve internal support has telescopic mechanical arm, mechanical arm one end is equipped with the mechanical chuck of band automatic clamping device, the other end be equipped with can make mechanical chuck around the center of arm the two-way chuck rotating mechanism that stirs, the rear portion of facing upward the oil cylinder of bowing is connected with the rotary table hinge, it is characterized in that: the parallel four-bar linkage that oblique biasing is arranged on the top of above-mentioned rotary table, this mechanism is by oblique lower fulcrum bar, the pull bar in parallel and the front support rod at two ends, back stay is formed, the lower end of front support rod is fixed on the sleeve, one end of pull bar is connected with the upper end hinge of front support rod, the other end is connected with the upper hinge of back stay, back twisted point is installed on the rotary table, the oblique upper end of the bottom of described back stay and lower fulcrum bar is connected with back twisted point hinge, and the following angled end of lower fulcrum bar is connected with described sleeve hinge; The described tailpiece of the piston rod of facing upward the oil cylinder of bowing connects with the external point hinge that stretches out parallel four connecting rods on the described back stay, and the rear end of the flat oil-lifting jar of horizontally set is connected with the rotary table hinge, and the tailpiece of the piston rod of flat oil-lifting jar is connected with the sleeve hinge.

2, eight degrees of freedom charging and discharging manipulator as claimed in claim 1 is characterized in that: described back stay is a triangular structure.

3, eight degrees of freedom charging and discharging manipulator as claimed in claim 1 or 2 is characterized in that: on the wheel under end hull and the last hull, and the rotating disk of rotary table is provided with band-type brake open in usual system.