CN105922249A - Blank taking manipulator of annular heating furnace - Google Patents
Blank taking manipulator of annular heating furnace Download PDFInfo
- Publication number
- CN105922249A CN105922249A CN201610476273.2A CN201610476273A CN105922249A CN 105922249 A CN105922249 A CN 105922249A CN 201610476273 A CN201610476273 A CN 201610476273A CN 105922249 A CN105922249 A CN 105922249A
- Authority
- CN
- China
- Prior art keywords
- hinged
- connecting rod
- rod
- transfer arm
- heating furnace
- 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
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Classifications
-
- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a blank taking manipulator of an annular heating furnace. An output end of a horizontal driving mechanism, an output end of a vertical driving mechanism, a head end of a first push rod and a head end of a second push rod are hinged together; one end of a first connecting rod is fixed on a frame, and the other end is hinged to a head end of an upper pull rod; a tail end of the upper pull rod is hinged with a first hinge point of a connecting block; a second hinge point of the connecting block, a tail end of a lower pull rod and a head end of a second connecting rod are hinged together; a head end of the lower pull rod is hinged to a rod body of the first connecting rod; a tail end of the first push rod is hinged to a rod body of the lower pull rod; a tail end of the second push rod is hinged to a rod body of the second connecting rod; and a third hinge point of a connecting hole is hinged to a head end of the third connecting rod. The blank taking manipulator directly clamps and supports out a blank from a furnace to stably put on a next procedure station so as to prevent the scratch and the collision of the blank, reduces the station conversion time, and improves the procedure matching efficiency.
Description
Technical field
The present invention relates to a kind of manipulator, a kind of rotary heating furnace take base manipulator.
Background technology
On bearing blank production line, in traditional rotary heating furnace, blank is come out of the stove and is dependent on the inclined-plane of furnace outlet and has slided,
The most not only scratch the lower surface of blank, have impact on surface quality and the lumber recovery of blank, and relevant device is created relatively
Big impact and noise, shorten the service life of parts simultaneously.
Blank loads and during coming out of the stove owing to having certain distance between heating furnace fire door and station, if transportation range is longer, and meeting
Cause blank temperature too low, thus affect the use of next step operation, the most conventional manipulator, structure is complicated, and cost is high,
It is connected with structure of annular furnace and corresponding problem simultaneously need to solve manipulator.Use and can increase production cost greatly.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of rotary heating furnace take base manipulator, improve
Production efficiency.
The present invention is achieved by the following technical solutions, and the present invention includes frame and the horizontal drive machine being respectively arranged in frame
Structure, vertical driving mechanism, upper connecting rod, lower link, first connecting rod, the first push rod, the second push rod, second connecting rod, the 3rd company
Bar, contiguous block, transfer arm；Described contiguous block has three pin joints, the output of described horizontal drive mechanism, vertical drive
The output of mechanism, the head end of the first push rod, the second push rod head end hinged, machine is fixed in one end of described first connecting rod
On frame, the other end is hinged on the head end of upper connecting rod, and the end of described upper connecting rod and the first pin joint of contiguous block are hinged, described
Second pin joint of contiguous block, the end of lower link, second connecting rod head end hinged, the head end of described lower link is hinged
On the body of rod of first connecting rod, the end of described first push rod is hinged on the body of rod of lower link, the end hinge of described second push rod
Being connected on the body of rod of second connecting rod, the 3rd pin joint of described connecting hole and the head end of third connecting rod are hinged, described third connecting rod
End and transfer arm end are hinged, and the end of described second connecting rod is hinged on the arm body of transfer arm.
Described horizontal drive mechanism is horizontal hydraulic pressure oil cylinder, and described horizontal drive mechanism drives transfer arm along level by the second push rod
Direction is moved.Realize moving horizontally by hydraulic jack.
Described vertical driving mechanism is vertical hydraulic oil cylinder, and described vertical driving mechanism drives transfer arm along vertical by the first push rod
Direction is moved.Realize vertically moving by hydraulic jack.
Described contiguous block is triangle, and described three pin joints lay respectively on three summits of triangle.By triangle hinged block
Simple in construction, easy to use.
The head end of described transfer arm is provided with clamp system, and described clamp system includes jaw, clamping fixture block, gripping sleeve；Described
Gripping sleeve one end is fixed on the hinged place of transfer arm and second connecting rod, and the other end fixes to clamp fixture block, the head end of described transfer arm
Being set in described gripping sleeve, described jaw has two, is respectively hinged at the head end of transfer arm.Transfer arm is horizontal forward, pincers
Mouth opens clamping blank, and backward, jaw shrinks clamping blank to transfer arm level, thus realizes the clamping to blank and transport.
Described manipulator also includes rotating mechanism and rotary drive mechanism；Described rotating mechanism is arranged at the bottom of frame, described rotation
Turn drive mechanism and drive rotating mechanism.The rotary motion of whole manipulator is realized by rotation.
Described rotating mechanism includes roller gear and ring gear, the output connecting cylinder gear of described rotary drive mechanism, described
Ring gear is set on roller gear, and described ring gear is meshed with described roller gear, and described erecting is placed on ring gear.
There is speed governing convenient, start and brake reliable timely.
One of preferred embodiment as the present invention, the bottom of described rotating mechanism is provided with pedestal.
One of preferred embodiment as the present invention, described rotary drive mechanism is hydraulic motor.
The present invention has the advantage that the present invention uses 4 four-bar mechanisms and 2 hydraulic cylinders to complete compared to existing technology, tool
Movement locus performance is adjusted flexibly, blank is directly clamped in stove and holds out, be positioned over the most smoothly on subsequent processing station,
Avoid the scuffing of blank, damage.Reduce the time of station conversion, improve the cooperation efficiency between operation.
Accompanying drawing explanation
Fig. 1 is the stereogram of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is the top view of the present invention；
Fig. 4 is the structure diagram of the present invention.
Detailed description of the invention
Elaborating embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention,
Give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in figures 1-4, the present embodiment include pedestal 1, frame 3, be respectively arranged in frame 3 rotary drive mechanism (figure
In do not show), rotating mechanism 2, horizontal drive mechanism 5, vertical driving mechanism 4, upper connecting rod 7, lower link 6, first connecting rod
9, first push rod the 10, second push rod 11, second connecting rod 12, third connecting rod 13, contiguous block 14, transfer arm 8；
Described rotating mechanism 2 is arranged at the bottom of frame 3, and rotating mechanism 2 is positioned on pedestal 1, described rotary drive mechanism
Driving rotating mechanism 2, described contiguous block 14 has three pin joints, the output of described horizontal drive mechanism 5, vertical drive
The output of mechanism 4, the head end of the first push rod 10, the head end of the second push rod 11 are hinged on J point, described first connecting rod 9
On one end fixed frame 3, the other end is hinged on G point, the end of described upper connecting rod 7 and contiguous block 14 with the head end of upper connecting rod 7
The first pin joint be hinged at F point, the second pin joint of described contiguous block 14, the end of lower link 6, second connecting rod 12
Head end be hinged on D point, the head end of described lower link 6 and the body of rod of first connecting rod 9 and be hinged on H point, described first push rod 10
End and the body of rod hinged I point of lower link 6, the described end of the second push rod 11 and the body of rod of second connecting rod 12 are hinged on C
Point, the 3rd pin joint of described connecting hole and the head end of third connecting rod 13 are hinged on G point, the end of described third connecting rod 13 and
Transfer arm 8 end is hinged on B point, the end of described second connecting rod 12 and the arm body of transfer arm 8 and is hinged on A point, horizontal drive
Mechanism 5 and frame 3 are hinged on L point, and vertical driving mechanism 4 and frame 3 are hinged on K point.
The horizontal drive mechanism 5 of the present embodiment is horizontal hydraulic pressure oil cylinder, and described horizontal drive mechanism 5 is driven by the second push rod 11
Transfer arm 8 moves in the horizontal direction.Realize moving horizontally by hydraulic jack.
The vertical driving mechanism 4 of the present embodiment is vertical hydraulic oil cylinder, and described vertical driving mechanism 4 is driven by the first push rod 10
Transfer arm 8 moves in the vertical direction.Realize vertically moving by hydraulic jack.
Described contiguous block 14 is triangle, and described three pin joints lay respectively on three summits of triangle.Hinged by triangle
Block structure is simple, easy to use.
The head end of described transfer arm 8 is provided with clamp system 16, described clamp system 16 include jaw 161, clamping fixture block 162,
Gripping sleeve 163；Described gripping sleeve 163 one end is fixed on the hinged place of transfer arm 8 and second connecting rod 12, and the other end is fixed
Clamping fixture block 162, the head end of described transfer arm 8 is set in described gripping sleeve 163, and described jaw 161 has two, point
It is not hinged on the head end of transfer arm 8.Transfer arm 8 is horizontal forward, jaw 161 open clamping blank 17, transfer arm 8 level to
After, jaw 161 shrinks clamping blank 17, thus realizes the clamping to blank 17 and transport.
Described rotating mechanism 2 includes roller gear and ring gear (not shown), and the output of described rotary drive mechanism connects
Roller gear, described ring gear is set on roller gear, and described ring gear is meshed with described roller gear, described frame 3
It is arranged on ring gear.There is speed governing convenient, start and brake reliable timely.
The rotary drive mechanism of the present embodiment is hydraulic motor.
Rotating mechanism 2 is completed rotary motion by fluid motor-driven；The lifting of jaw 161 is completed by vertical driving mechanism 4；
The horizontal movement of jaw 161 is completed by horizontal drive mechanism 5；Jaw 161 clamps and to unclamp action complete by clamp system 16
Become.When hydraulic motor rotates, mechanism 2 rotation is rotated and makes frame 3 turn, i.e. transfer arm 8 do together with jaw 161
Rotary motion；Transfer arm 8 relies on two hydraulic jacks to make jaw 161 complete plane motion track, and jaw 161 completes to clamp base
Expect 17 tasks.According to technological requirement, jaw 161 has 4 frees degree, i.e. rotation, vertical, level and clamping 4 motion
The free degree.
Manipulator work cycle: blank 17 placement location in first the jaw 161 of manipulator advances to rotary heating furnace, then presss from both sides
Tight blank 17 rises, retreat, return back to next process specifies position to decline and unclamp jaw 161, rise the most again, retreat,
Return back to home position, complete a circulation.
As shown in Figure 4, whole manipulator includes four four-bar mechanisms: ABED, CDIJ, GFDH and HIJL.Horizontal hydraulic pressure oil cylinder
Piston rod drives the second push rod 11 to drive four-bar mechanism ABED left and right directions along figure to extend, and it is transported by four-bar mechanism GFDH simultaneously
Dynamic spacing, it is ensured that transfer arm 8 moves horizontally, and vertical hydraulic cylinder piston rod drives the first push rod 10 to drive four-bar mechanism GFDH
Along figure, above-below direction extends, and four-bar mechanism ABED is to its sports limiting simultaneously, it is ensured that transfer arm 8 vertically moves.
First rotary heating furnace oven door opening, makes jaw 161 insert in stove in transfer arm 8 elongation process, and then jaw 161 will
Blank 17 clamps, and vertical hydraulic oil cylinder makes jaw 161 lift by transfer arm 8, and the piston rod of horizontal hydraulic pressure oil cylinder shortens process
In make the jaw 161 of clamping blank 17 exit outside fire door under the drive of transfer arm 8, fire door close.Transfer arm 8 is at whirler
Structure 2 makes jaw 161 rotate an angle specified according to command request under driving, transfer arm 8 is again in the work of horizontal hydraulic pressure oil cylinder
Stopper rod drives its elongation process lower to make jaw 161 arrive and specifies position, and vertical hydraulic oil cylinder is retracted and made jaw 161 drop to appointment
Position, jaw 161 unclamps, and blank 17 is placed on the station specified.Vertical hydraulic oil cylinder is mentioned jaw 161 and is left station,
Under the driving of rotating mechanism 2, rotate and be fed back into the home position specified.Said process completes the cyclic process taking base.
The coordination of above-mentioned action and logical relation control to use PLC to complete.
Important technological parameters:
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and former
Any amendment, equivalent and the improvement etc. made within then, should be included within the scope of the present invention.
Claims (9)
1. a rotary heating furnace take base manipulator, it is characterised in that include frame and the level being respectively arranged in frame driven
Motivation structure, vertical driving mechanism, upper connecting rod, lower link, first connecting rod, the first push rod, the second push rod, second connecting rod,
Three connecting rods, contiguous block, transfer arm；Described contiguous block has three pin joints, the output of described horizontal drive mechanism, vertical
The output of drive mechanism, the head end of the first push rod, the second push rod head end hinged, one end of described first connecting rod is solid
Determining in frame, the other end is hinged on the head end of upper connecting rod, and the end of described upper connecting rod and the first pin joint of contiguous block are hinged,
Second pin joint of described contiguous block, the end of lower link, second connecting rod head end hinged, the head end of described lower link
Being hinged on the body of rod of first connecting rod, the end of described first push rod is hinged on the body of rod of lower link, the end of described second push rod
End is hinged on the body of rod of second connecting rod, and the 3rd pin joint of described connecting hole and the head end of third connecting rod are hinged, and the described 3rd even
End and the transfer arm end of bar are hinged, and the end of described second connecting rod is hinged on the arm body of transfer arm.
A kind of rotary heating furnace the most according to claim 1 take base manipulator, it is characterised in that described horizontal drive machine
Structure is hydraulic jack, and described horizontal drive mechanism drives transfer arm to move in the horizontal direction by the second push rod.
A kind of rotary heating furnace the most according to claim 1 take base manipulator, it is characterised in that described vertical drive machine
Structure is hydraulic jack, and described vertical driving mechanism drives transfer arm to move in the vertical direction by the first push rod.
A kind of rotary heating furnace the most according to claim 1 take base manipulator, it is characterised in that described contiguous block is three
Dihedral, described three pin joints lay respectively on three summits of triangle.
A kind of rotary heating furnace the most according to claim 1 take base manipulator, it is characterised in that the head of described transfer arm
End is provided with clamp system, and described clamp system includes jaw, clamping fixture block, gripping sleeve；Described gripping sleeve one end is fixed on
Transfer arm and the hinged place of second connecting rod, the other end fixes to clamp fixture block, and the head end of described transfer arm is set in described gripping sleeve
In, described jaw has two, is respectively hinged at the head end of transfer arm.
A kind of rotary heating furnace the most according to claim 1 take base manipulator, it is characterised in that described manipulator also wraps
Include rotating mechanism and rotary drive mechanism；Described rotating mechanism is arranged at the bottom of frame, and described rotary drive mechanism drives and rotates
Mechanism.
A kind of rotary heating furnace the most according to claim 6 take base manipulator, it is characterised in that described rotating mechanism bag
Including roller gear and ring gear, the output connecting cylinder gear of described rotary drive mechanism, described ring gear is set in Cylinder Gear
On wheel, described ring gear is meshed with described roller gear, and described erecting is placed on ring gear.
A kind of rotary heating furnace the most according to claim 6 take base manipulator, it is characterised in that described rotating mechanism
Bottom is provided with pedestal.
A kind of rotary heating furnace the most according to claim 6 take base manipulator, it is characterised in that described rotary driving machine
Structure is hydraulic motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610476273.2A CN105922249A (en) | 2016-06-23 | 2016-06-23 | Blank taking manipulator of annular heating furnace |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610476273.2A CN105922249A (en) | 2016-06-23 | 2016-06-23 | Blank taking manipulator of annular heating furnace |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105922249A true CN105922249A (en) | 2016-09-07 |
Family
ID=56828616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610476273.2A Pending CN105922249A (en) | 2016-06-23 | 2016-06-23 | Blank taking manipulator of annular heating furnace |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105922249A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106517831A (en) * | 2016-12-13 | 2017-03-22 | 贵州杰傲建材有限责任公司 | Laminated glass heating device |
| CN107350450A (en) * | 2017-07-27 | 2017-11-17 | 成都市龙泉通惠实业有限责任公司 | A kind of machine handgrip for being used to take out die casting machine inner carrier blank |
| CN114834550A (en) * | 2022-05-24 | 2022-08-02 | 中建四局安装工程有限公司 | A pipeline transfer device for burying formula sewage plant |
| CN115351816A (en) * | 2022-10-19 | 2022-11-18 | 沈阳工业大学 | Self-balancing mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1050863A1 (en) * | 1980-01-18 | 1983-10-30 | Ленинградский Институт Авиационного Приборостроения | Manipulator |
| EP0181490A1 (en) * | 1984-10-13 | 1986-05-21 | Friedhelm Schwarz | Device for producing cartesian horizontal and vertical motion |
| IT1145076B (en) * | 1980-08-15 | 1986-11-05 | Dainichi Kiko Kk | INDUSTRIAL AUTOMA |
| CN2804018Y (en) * | 2005-06-08 | 2006-08-09 | 哈尔滨博实自动化设备有限责任公司 | Stacking robot |
| CN102602708A (en) * | 2012-03-26 | 2012-07-25 | 广东工业大学 | Robot palletizer for carrying |
| CN102809032A (en) * | 2012-08-20 | 2012-12-05 | 重庆金母带科技有限公司 | Electric rotating slideway for movable camera shooting |
| CN203109944U (en) * | 2013-03-26 | 2013-08-07 | 北京赛佰特科技有限公司 | Robot palletizer capable of keeping wrist horizontal |
| CN104308843A (en) * | 2014-08-27 | 2015-01-28 | 王英超 | Fire-fighting robot manipulator lifting and rotating device |
| CN104690723A (en) * | 2015-02-28 | 2015-06-10 | 天津大学 | Two-degree-of-freedom positioning mechanism and telescopic driving type multiple-degree-of-freedom mixed-connected robot thereof |
| CN105082107A (en) * | 2015-08-31 | 2015-11-25 | 河南科技大学 | Heavy-load carrying manipulator for forging |
-
2016
- 2016-06-23 CN CN201610476273.2A patent/CN105922249A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1050863A1 (en) * | 1980-01-18 | 1983-10-30 | Ленинградский Институт Авиационного Приборостроения | Manipulator |
| IT1145076B (en) * | 1980-08-15 | 1986-11-05 | Dainichi Kiko Kk | INDUSTRIAL AUTOMA |
| EP0181490A1 (en) * | 1984-10-13 | 1986-05-21 | Friedhelm Schwarz | Device for producing cartesian horizontal and vertical motion |
| CN2804018Y (en) * | 2005-06-08 | 2006-08-09 | 哈尔滨博实自动化设备有限责任公司 | Stacking robot |
| CN102602708A (en) * | 2012-03-26 | 2012-07-25 | 广东工业大学 | Robot palletizer for carrying |
| CN102809032A (en) * | 2012-08-20 | 2012-12-05 | 重庆金母带科技有限公司 | Electric rotating slideway for movable camera shooting |
| CN203109944U (en) * | 2013-03-26 | 2013-08-07 | 北京赛佰特科技有限公司 | Robot palletizer capable of keeping wrist horizontal |
| CN104308843A (en) * | 2014-08-27 | 2015-01-28 | 王英超 | Fire-fighting robot manipulator lifting and rotating device |
| CN104690723A (en) * | 2015-02-28 | 2015-06-10 | 天津大学 | Two-degree-of-freedom positioning mechanism and telescopic driving type multiple-degree-of-freedom mixed-connected robot thereof |
| CN105082107A (en) * | 2015-08-31 | 2015-11-25 | 河南科技大学 | Heavy-load carrying manipulator for forging |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106517831A (en) * | 2016-12-13 | 2017-03-22 | 贵州杰傲建材有限责任公司 | Laminated glass heating device |
| CN107350450A (en) * | 2017-07-27 | 2017-11-17 | 成都市龙泉通惠实业有限责任公司 | A kind of machine handgrip for being used to take out die casting machine inner carrier blank |
| CN114834550A (en) * | 2022-05-24 | 2022-08-02 | 中建四局安装工程有限公司 | A pipeline transfer device for burying formula sewage plant |
| CN115351816A (en) * | 2022-10-19 | 2022-11-18 | 沈阳工业大学 | Self-balancing mechanical arm |
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Application publication date: 20160907 |
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