CN105290255A - Intelligent hydraulic mechanical arm - Google Patents
Intelligent hydraulic mechanical arm Download PDFInfo
- Publication number
- CN105290255A CN105290255A CN201510878168.7A CN201510878168A CN105290255A CN 105290255 A CN105290255 A CN 105290255A CN 201510878168 A CN201510878168 A CN 201510878168A CN 105290255 A CN105290255 A CN 105290255A
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- Prior art keywords
- axis
- horizontal mobile
- rotating mechanism
- hydraulic
- mobile mechanism
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- Pending
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- 230000007246 mechanism Effects 0.000 claims abstract description 125
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 230000001360 synchronised effect Effects 0.000 claims description 15
- 230000009471 action Effects 0.000 claims description 10
- 230000003028 elevating effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000010720 hydraulic oil Substances 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent hydraulic mechanical arm. The intelligent hydraulic mechanical arm is characterized by comprising a rack, a hydraulic station, an X-axis horizontal moving mechanism, a Z-axis rotating mechanism, a Z-axis lifting mechanism and an execution mechanism. The Z-axis rotating mechanism is mounted on the rack, is connected with the Z-axis lifting mechanism, and can do vertical lifting motion along with the Z-axis lifting mechanism; at least one X-axis horizontal moving mechanism is mounted on the Z-axis rotating mechanism and does rotation in the horizontal direction along with the Z-axis rotating mechanism; and the execution mechanism is mounted on the X-axis horizontal moving mechanism and can do reciprocating motion in the horizontal direction along the X-axis horizontal moving mechanism. The intelligent hydraulic mechanical arm has the beneficial effects of being simple in structure, flexible in operation, and precise in adjusting and control.
Description
technical field:
The present invention relates to a kind of automation equipment, particularly a kind of intelligent hydraulic manipulator.
background technology:
At present, punching apparatus and hydraulic press equipment, when punching parts, generally need manually to put on mould by workpiece, are taken out by workpiece, this way not only inefficiency after to be punched again, and there is very large potential safety hazard.
Along with the appearance of puma manipulator, effectively instead of above-mentioned manual operation, achieve semi-automation or full-automation, solve the problem of security and operating efficiency.
As publication number be CN204564977, name is called the Chinese patent of " hydraulic press three-axis numerical control pick-and-place manipulator ", the mode adopting X-axis displacement mechanism, Z axis displacement mechanism, R axle rotating mechanism to cooperatively interact, achieves Unmanned operation.
In addition, publication number is CN101947607, name is called in the Chinese invention patent of " Intelligent manipulator for punch press ", adopt " horicontal motion mechanism, flip-flop movement mechanism, swing arm motion mechanism, actuating station rotational motion mechanism, vertical movement mechanism have coordinated material loading and feeding, effectively improve operating efficiency ".
Although technique scheme efficiently solves the problem of automation material loading, feeding, also there is following shortcoming: 1, many group transmission mechanism complex structures, and the action that realizes of many group transmission mechanism combinations and coordinating and function limited; 2, adopt motor drive mode and tradition machinery speed adjusting performance, its speeds control realizes by changing motor speed, and this speed adjustable range is less, and inertia impact is large, sensitive not.
summary of the invention:
The object of the present invention is to provide that a kind of structure is simple, flexible operation, regulation and control intelligent hydraulic manipulator accurately.
For achieving the above object, the technical scheme taked is as follows in the present invention:
A kind of intelligent hydraulic manipulator, it is characterized in that: comprise frame, Hydraulic Station, X-axis horizontal mobile mechanism, Z axis rotating mechanism, Z-axis lifting mechanism, executing agency forms, wherein: Z axis rotating mechanism is installed in frame, Z axis rotating mechanism is connected with Z-axis lifting mechanism, and do vertical elevating movement with Z-axis lifting mechanism, Z axis rotating mechanism is provided with at least one group of X-axis horizontal mobile mechanism, X-axis horizontal mobile mechanism does the rotation of horizontal direction with Z axis rotating mechanism, executing agency is installed on X-axis horizontal mobile mechanism, executing agency can do the reciprocating motion of horizontal direction along X-axis horizontal mobile mechanism.
Preferably arrange as follows further:
Z-axis lifting mechanism comprises the guide rail be installed in frame, and the first sliding shoe is movably arranged on guide rail, and hoist cylinder and the first sliding shoe are connected, and Z axis rotating mechanism is connected with the first sliding shoe, and do oscilaltion campaign with the first sliding shoe along guide rail.
Z axis rotating mechanism comprises mount pad, rotating shaft is installed on mount pad, Z axis rotary hydraulic motor and rotating shaft are connected, be connected with buffer push rod on the rotary shaft, in the side of buffer push rod, hydraulic bjuffer is installed, when rotating shaft rotates to terminal location, buffer push rod can clash into hydraulic bjuffer, and the action of rotating shaft is slowed down.
The mount pad of Z axis rotating mechanism is connected with the hoist cylinder of Z-axis lifting mechanism by contiguous block.
X-axis horizontal mobile mechanism comprises base, floor installation is on the rotating shaft of Z axis rotating mechanism, and the rotary motion of horizontal direction can be done with rotating shaft, X direction guiding rail is installed on base, and movable block is movably installed on X direction guiding rail, and X-axis translation hydraulic motor is connected with large synchronous pulley, small synchronous pulley and large synchronous pulley are connected, Timing Belt is set on small synchronous pulley, and movable block is connected on Timing Belt, and does the reciprocating motion of level with Timing Belt.
Executing agency comprises contiguous block, and contiguous block is installed on the movable block of X-axis horizontal mobile mechanism, contiguous block is provided with sucker successively, cuts somebody's hair.
Beneficial effect of the present invention is as follows:
1, adopt all-hydraulic control, whole power from hydraulic oil, compared with traditional motor drive mode: (1) load and speed parameter have very large elasticity; After such as speed diminishes, carrying strengthens; (2) steadily quieter than conventional robot.(3) cost is cheaper; (4) speed adjusting performance (comprising servomotor) of tradition machinery, needs the rotating speed changing motor; Hydraulic pressure need not change the rotating speed of Oil pump electrical machinery, but the control and regulation of hydraulic oil, speed governing is more flexible, speed-regulating range width, and inertia impact is little;
2, by the reasonable setting of X-axis horizontal mobile mechanism, Z axis rotating mechanism, Z-axis lifting mechanism, executing agency, wherein: Z axis rotating mechanism is connected with Z-axis lifting mechanism, and do vertical elevating movement with Z-axis lifting mechanism, the horizontal mobile mechanism of stackable installation one or more groups X-direction any on Z axis rotating mechanism, and around the rotating mechanism of X-axis, so just can go out 4,5,6 axis robot by independent assortment flexibly, and other elements need not be changed; In addition, executing agency is installed on X-axis horizontal mobile mechanism, according to different fields, freely can switch or assemble, and compared with traditional three axle robert, the mode of application and field are more extensive.
3, by the setting of buffer push rod and hydraulic bjuffer, can effectively protect hydraulic mechanism to be impacted, with traditional motor drive mode, run more steady, the shock be subject to be less, long service life; And because terminal is spacing contribute to terminal location accurately.
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
accompanying drawing illustrates:
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is the structural representation of Z-axis lifting mechanism of the present invention;
Fig. 3 is the perspective view of Z-axis lifting mechanism of the present invention;
Fig. 4 is the syndeton schematic diagram of Z axis rotating mechanism of the present invention and Z-axis lifting mechanism;
Fig. 5 is the structural representation of X-axis horizontal mobile mechanism of the present invention.
detailed description of the invention:
Embodiment 1:
As shown in Fig. 1 ~ Fig. 5, a kind of intelligent hydraulic manipulator of the present invention, comprises frame 10, Hydraulic Station 1, X-axis horizontal mobile mechanism 2, Z axis rotating mechanism 3, Z-axis lifting mechanism 4, executing agency 5 forms.
Z axis rotating mechanism 3 is vertically installed in frame 10, Z axis rotating mechanism 3 is connected with Z-axis lifting mechanism 4, and do vertical elevating movement with Z-axis lifting mechanism 4, Z axis rotating mechanism 3 is provided with at least one group of X-axis horizontal mobile mechanism 2, X-axis horizontal mobile mechanism 2 does the rotation of horizontal direction with Z axis rotating mechanism, executing agency 5 is installed on X-axis horizontal mobile mechanism 2, and executing agency 5 can do the reciprocating motion of horizontal direction along X-axis horizontal mobile mechanism 2.
Hydraulic Station 1 is primarily of compositions such as fuel tank, oil pump, motors, and its major function provides hydraulic oil to the hydraulic motor of each transmission mechanism, hydraulic jack.
Z-axis lifting mechanism 4 comprises the guide rail 41 be installed in frame 10, first sliding shoe 42 is movably arranged on guide rail 41, hoist cylinder 43 is connected by contiguous block 44 and the first sliding shoe 42, Z axis rotating mechanism 3 is connected with the first sliding shoe 42, and does oscilaltion campaign with the first sliding shoe 42 along guide rail 41.
Z axis rotating mechanism 3 comprises mount pad 31, mount pad 31 is connected with hoist cylinder 43 by contiguous block 44, rotating shaft 33 is installed on mount pad 31, Z axis rotary hydraulic motor 34 and rotating shaft 33 are connected, rotating shaft 33 is connected with buffer push rod 35, in the side of buffer push rod 35, hydraulic bjuffer 36 is installed, when rotating shaft 33 rotates to terminal location, buffer push rod 35 can clash into hydraulic bjuffer 36, the action of rotating shaft 33 is slowed down, like this, the stopping action of Z axis rotating mechanism 3 is gentleer, can available protecting Z axis rotating mechanism 3, prevent from being impacted, meanwhile, part 33,35,36, by spacing, can obtain height by force and rotate final position accurately.
X-axis horizontal mobile mechanism 2 comprises base 20, base 20 is installed on the rotating shaft 33 of Z axis rotating mechanism 3, and the rotary motion of horizontal direction can be done with rotating shaft 33, X direction guiding rail 26 is installed on base 20, movable block 27 is movably installed on X direction guiding rail 26, X-axis translation hydraulic motor 21 is connected with large synchronous pulley 22, small synchronous pulley 23 and large synchronous pulley 22 are connected, Timing Belt 24 is set on small synchronous pulley 23, movable block 27 is connected on Timing Belt 24, and does the reciprocating motion of level with Timing Belt 24.
Executing agency 5 is installed on X-axis horizontal mobile mechanism 2, and the reciprocating motion of level is done with X-axis horizontal mobile mechanism, executing agency 5 is different with function according to the field of application, and select different executive components, as Fig. 1-2 shows a kind of operating mode when the present invention is applied to hardware stamping, in this embodiment, executing agency 5 comprises contiguous block 51, contiguous block 51 is installed on the movable block 27 of X-axis horizontal mobile mechanism 2, contiguous block 51 is provided with sucker 53 successively, 54 compositions of cutting somebody's hair; Stabilization device 52 is arranged on the end of base 20, prevents from shaking in contiguous block 51 moving process.
Operation principle of the present invention is as follows: for Fig. 1-2 be applied to hardware stamping time embodiment:
Pickup: first, Z axis rotating mechanism 3 rotates, executing agency 5 on adjustment X-axis horizontal mobile mechanism 2 turns to feed zone, when X-axis horizontal mobile mechanism 2 rotates to the precalculated position of feed zone with Z axis rotating mechanism 3, Z-axis lifting mechanism 4 declines, sucker 29 in executing agency 5 holds workpiece from feed zone, completes pickup;
The course of action of Z axis rotating mechanism 3 is as follows: Z axis rotary hydraulic motor 34 works, and driven rotary axle 33 rotates, and drives the X-axis horizontal mobile mechanism 2 be installed on rotating shaft 33 to do the rotary motion of level together.
The course of action of Z-axis lifting mechanism 4 is as follows: under the driving of hydraulic oil, hoist cylinder 43 action, drive the first sliding shoe 42 to do reciprocal elevating movement on guide rail 41, Z axis rotating mechanism 3 is connected with the first sliding shoe 42, and does upper and lower elevating movement with the first sliding shoe 42 along guide rail 41.
Send part: after pickup completes, Z-axis lifting mechanism 4 rises, X-axis horizontal mobile mechanism 2 is driven to rise, after rising to precalculated position, Z axis rotating mechanism 3 rotates to an angle, when processing district is aimed at by executing agency 5, X-axis translation hydraulic motor 21 rotates, the executing agency 5 on X-axis horizontal mobile mechanism 2 and X-axis horizontal mobile mechanism 2 is driven to do the horizontal movement of advancing, cut somebody's hair and 54 to be pushed away by the workpiece processed in the front portion of executing agency 5, and by sucker 53, workpiece to be processed is positioned in processing district, complete after sending part, X-axis translation hydraulic motor 21 on X-axis horizontal mobile mechanism 2 reverses, executing agency 5 is driven to do the horizontal movement retreated, leave workspace, and start the pickup action of next round, thus form reciprocal pickup---send part to circulate.
The course of action of X-axis horizontal mobile mechanism 2 is as follows:
X-axis translation hydraulic motor 21 on X-axis horizontal mobile mechanism 2 rotates, large synchronous pulley 22 is driven to rotate, small synchronous pulley 23 and large synchronous pulley 22 link, Timing Belt 24 is driven to move back and forth, movable block 27 to be connected on Timing Belt 24 and the horizontal movement doing forward on X direction guiding rail 26 with Timing Belt 24, along with travelling forward of movable block 27, the executing agency 5 on it also does horizontal movement forward; When the X-axis translation hydraulic motor 21 on X-axis horizontal mobile mechanism 2 reverses, movable block 27 does the horizontal movement retreated along X direction guiding rail 26, drives executing agency 5 to do the horizontal movement retreated.
Z axis hoist cylinder 43 of the present invention, Z axis rotary hydraulic motor 34, X-axis translation hydraulic motor 21 are all that the hydraulic oil provided by hydraulic fluid tank 1 is driven, by the flow of regulator solution compressing cylinder and hydraulic motor, can control and change the speed of Z axis rotating mechanism 3, Z-axis lifting mechanism 4, X-axis horizontal mobile mechanism 2.
Alternative embodiment:
The same embodiment of basic structure, difference is: X-axis horizontal mobile mechanism 2 is set to two or more sets, simultaneously, different according to the technical field of application, can be applicable to the manufacture fields such as pottery, furniture, electronics as the present invention, described executing agency 5 need replace or increase the existing executive component in corresponding field, and improvement of the present invention mainly provides a kind of intelligent hydraulic manipulator that can be applied to different field.
Claims (6)
1. an intelligent hydraulic manipulator, it is characterized in that: comprise frame, Hydraulic Station, X-axis horizontal mobile mechanism, Z axis rotating mechanism, Z-axis lifting mechanism, executing agency forms, wherein: Z axis rotating mechanism is installed in frame, Z axis rotating mechanism is connected with Z-axis lifting mechanism, and do vertical elevating movement with Z-axis lifting mechanism, Z axis rotating mechanism is provided with at least one group of X-axis horizontal mobile mechanism, X-axis horizontal mobile mechanism does the rotation of horizontal direction with Z axis rotating mechanism, executing agency is installed on X-axis horizontal mobile mechanism, executing agency can do the reciprocating motion of horizontal direction along X-axis horizontal mobile mechanism.
2. a kind of intelligent hydraulic manipulator according to claim 1, it is characterized in that: Z-axis lifting mechanism comprises the guide rail be installed in frame, first sliding shoe is movably arranged on guide rail, hoist cylinder and the first sliding shoe are connected, Z axis rotating mechanism is connected with the first sliding shoe, and does oscilaltion campaign with the first sliding shoe along guide rail.
3. a kind of intelligent hydraulic manipulator according to claim 1 and 2, it is characterized in that: Z axis rotating mechanism comprises mount pad, rotating shaft is installed on mount pad, Z axis rotary hydraulic motor and rotating shaft are connected, be connected with buffer push rod on the rotary shaft, in the side of buffer push rod, hydraulic bjuffer be installed, when rotating shaft rotates to terminal location, buffer push rod can clash into hydraulic bjuffer, and the action of rotating shaft is slowed down.
4. a kind of intelligent hydraulic manipulator according to claim 3, is characterized in that: mount pad is connected with hoist cylinder by contiguous block.
5. a kind of intelligent hydraulic manipulator according to claim 1, it is characterized in that: X-axis horizontal mobile mechanism comprises base, floor installation is on the rotating shaft of Z axis rotating mechanism, and the rotary motion of horizontal direction can be done with rotating shaft, X direction guiding rail is installed on base, movable block is movably installed on X direction guiding rail, X-axis translation hydraulic motor is connected with large synchronous pulley, small synchronous pulley and large synchronous pulley are connected, Timing Belt is set on small synchronous pulley, movable block is connected on Timing Belt, and does the reciprocating motion of level with Timing Belt.
6. a kind of intelligent hydraulic manipulator according to claim 1 or 5, it is characterized in that: executing agency comprises contiguous block, contiguous block is installed on the movable block of X-axis horizontal mobile mechanism, contiguous block is provided with sucker successively, cuts somebody's hair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510878168.7A CN105290255A (en) | 2015-12-04 | 2015-12-04 | Intelligent hydraulic mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510878168.7A CN105290255A (en) | 2015-12-04 | 2015-12-04 | Intelligent hydraulic mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105290255A true CN105290255A (en) | 2016-02-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510878168.7A Pending CN105290255A (en) | 2015-12-04 | 2015-12-04 | Intelligent hydraulic mechanical arm |
Country Status (1)
| Country | Link |
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| CN (1) | CN105290255A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107745056A (en) * | 2017-11-15 | 2018-03-02 | 绵阳海迪机器人科技有限公司 | Punch press automatic loading and unloading manipulator |
| CN107900245A (en) * | 2017-11-15 | 2018-04-13 | 绵阳海迪机器人科技有限公司 | Punching machine automatic loading and unloading manipulator |
| CN108672578A (en) * | 2018-06-13 | 2018-10-19 | 岳西县创奇电器有限责任公司 | A kind of not contour manipulator of intelligence |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4035004A1 (en) * | 1990-11-03 | 1992-05-07 | Erfurt Umformtechnik Gmbh | Transfer of large metal sheets to and from metal forming press - uses machine with swining arms mounted on slides on larger swinging arm |
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| CN103252770A (en) * | 2013-04-15 | 2013-08-21 | 佛山市鼎峰机器人有限公司 | Workpiece stamping intelligent control process and intelligent control manipulator |
| CN203197919U (en) * | 2013-03-29 | 2013-09-18 | 江苏新创雄铝制品有限公司 | Hub casting workblank taking device and control system thereof |
| CN103317504A (en) * | 2013-05-23 | 2013-09-25 | 苏州市越海拉伸机械有限公司 | Vertical material feeding and discharging manipulator |
| CN203830589U (en) * | 2014-05-08 | 2014-09-17 | 江苏尚诚精密模具科技有限公司 | Manipulator |
| CN204122636U (en) * | 2014-09-29 | 2015-01-28 | 陈昌菊 | Punching machine mechanical arm |
-
2015
- 2015-12-04 CN CN201510878168.7A patent/CN105290255A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4035004A1 (en) * | 1990-11-03 | 1992-05-07 | Erfurt Umformtechnik Gmbh | Transfer of large metal sheets to and from metal forming press - uses machine with swining arms mounted on slides on larger swinging arm |
| US20050166659A1 (en) * | 2004-01-30 | 2005-08-04 | Kiyokazu Baba | Inter-pressing-machine work transfer device |
| CN102765086A (en) * | 2012-07-26 | 2012-11-07 | 江苏尚诚精密模具科技有限公司 | Intelligent robot with stamping and carrying functions |
| CN203197919U (en) * | 2013-03-29 | 2013-09-18 | 江苏新创雄铝制品有限公司 | Hub casting workblank taking device and control system thereof |
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| CN103317504A (en) * | 2013-05-23 | 2013-09-25 | 苏州市越海拉伸机械有限公司 | Vertical material feeding and discharging manipulator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107745056A (en) * | 2017-11-15 | 2018-03-02 | 绵阳海迪机器人科技有限公司 | Punch press automatic loading and unloading manipulator |
| CN107900245A (en) * | 2017-11-15 | 2018-04-13 | 绵阳海迪机器人科技有限公司 | Punching machine automatic loading and unloading manipulator |
| CN107745056B (en) * | 2017-11-15 | 2020-01-03 | 绵阳海迪机器人科技有限公司 | Automatic feeding and discharging manipulator of punch press |
| CN108672578A (en) * | 2018-06-13 | 2018-10-19 | 岳西县创奇电器有限责任公司 | A kind of not contour manipulator of intelligence |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160203 |
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| RJ01 | Rejection of invention patent application after publication |