CN203862948U - Hot forging piece-taking mechanical hand with self-cooling function - Google Patents

Abstract

The utility model relates to industrial automation equipment, in particular to an automatic manipulator. The hot forging pick-up manipulator with self-cooling includes an arm and a gripper; the gripper is fixedly connected to one end of the arm; the arm includes a bottom plate, a lead screw, a long guide rail, a square slider, a nut, a servo motor, A shaft coupling; one end of the lead screw is movably connected to a lead screw fixing seat, and the other end is movably connected to a lead screw support seat, and the lead screw fixing seat and the lead screw support seat are fixedly connected to the base plate; The screw and the long guide rail are parallel to each other; the gripper includes a slider module and fingers; the fingers are fixedly connected to the slider; the slider module includes: a finger body, a guide rail, a piston, Plunger pin, slider. The guide rail type manipulator is suitable for the material handling and transmission in the process of mechanical manufacturing, and has small frictional resistance, stable operation, high precision and long service life.

Description

Hot forging pick-up manipulator with self-cooling

technical field

The utility model relates to industrial automation equipment, in particular to an automatic manipulator.

Background technique

A manipulator refers to an automatic operating device that can imitate certain movement functions of the human hand and arm to grab, carry objects or operate tools according to a fixed program. It can replace human heavy labor to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments.

The manipulator is mainly composed of three parts: hand, motion mechanism and control system. The hand is a part used to grasp the workpiece (or tool), and there are various structural forms according to the shape, size, weight, material and operation requirements of the grasped object, such as clamping type, holding type and adsorption type, etc. . The movement mechanism enables the hand to complete various rotations (swings), movements or compound movements to achieve prescribed actions and change the position and posture of the grasped object. The lifting, telescoping, rotating and other independent motion modes of the motion mechanism are called the degrees of freedom of the manipulator. The control system completes specific actions by controlling the motors of each degree of freedom of the manipulator.

However, the existing mechanical fingers are often driven by motors, which are complex in structure and expensive.

Existing mechanical fingers do not have a long lifespan.

Utility model content

The purpose of the utility model is to provide a rail-type manipulator. The utility model is suitable for the process of mechanical manufacturing to realize the transportation and transmission of materials, and has small frictional resistance, stable operation, high precision and long service life.

A hot forging pick-up manipulator with self-cooling, including an arm and a claw; the claw is fixedly connected to one end of the arm;

The arm includes a base plate, a lead screw, a long guide rail, a square slider, a nut, a servo motor, and a coupling; one end of the lead screw is movably connected with a lead screw fixing seat, and the other end is movably connected with a lead screw support seat. The screw fixing base and the screw supporting base are fixedly connected to the base plate; the extension shaft of the servo motor and the screw are fixedly connected through the coupling; on the other side of the base plate , the long guide rail is fixedly connected, the square slider is movably connected to the long guide rail, and the fixed plate is fixedly connected under the square slider; the nut is movably connected to the screw, and the outside of the nut is fixedly connected There is a nut connecting plate, and vertical plates are fixedly connected to both sides of the nut connecting plate, and the vertical plate is fixedly connected to the fixing plate; the screw and the long guide rail are parallel to each other;

The gripper includes a slider module and fingers;

The fingers are fixedly connected to the slider;

The slider module includes: a finger body, a guide rail, a piston, a plunger pin, and a slider; a cylinder is arranged inside the finger body, the piston is arranged inside the cylinder, and the piston and the cylinder The cylinder body is matched with the first air inlet and outlet, the second air inlet and outlet, the third air inlet and outlet, and the fourth air inlet and outlet, and the first air inlet and outlet communicate with the third air inlet and outlet. An air pipe, a second air pipe communicates between the third air inlet and outlet and the fourth air inlet and outlet; the plunger pin is fixedly connected to the piston, the guide rail and the piston are arranged in parallel, and the slider It is movably connected on the guide rail, and the plunger hole matched with the plunger pin is provided on the slider; the number of the sliders is 2, including the first slider and the second slider; the piston The number of cylinders is 2, namely: the first piston and the second piston; the number of the cylinders is 2, respectively: the first cylinder and the second cylinder;

A channel is provided inside the finger, an inlet and an outlet are provided on the finger, and the channel communicates with the inlet and the outlet.

More specifically, the first piston is arranged in the first cylinder, and the second piston is arranged in the second cylinder.

More specifically, the slider is provided with threaded holes for connecting fingers.

The utility model provides a hot forging pick-up manipulator with self-cooling. Compared with the traditional technology, the utility model has the following beneficial effects:

First describe the positive effect of said arm:

The fixed plate is fixedly connected to the equipment to realize the installation and fixation of the self-cooling hot forging pick-up manipulator of the utility model. The servo motor drives the screw to rotate, and the screw further drives the nut to move linearly relative to the screw. Since the fixed plate is fixedly connected to the equipment, the two sides of the nut connecting plate are fixedly connected with vertical plates, and the vertical plates are fixedly connected to the fixed plate, so the nuts are always kept relative to the fixed plate. unchanged position. Due to the relativity of motion, the lead screw moves linearly relative to the nut and the fixing plate, thereby realizing the extension or retraction of the arm.

The gripper is fixedly connected to one end of the arm, and driven by the extension or retraction of the arm, cooperates with the opening and closing of the gripper to realize the function of grabbing materials.

The positive effects of said claws are then described:

During the working process of the fingers, clamping a high-temperature workpiece will increase the temperature of the fingers. On the hot forging production line, the workpiece temperature reaches 1100°C. The liquid is passed into the inlet, and the liquid flows out from the outlet after passing through the channel, and the heat accumulated by the finger is taken away by the flowing liquid, which can greatly reduce the temperature of the finger and keep the finger Under normal temperature working conditions.

A channel is provided inside the finger, an inlet and an outlet are provided on the finger, and the channel communicates with the inlet and the outlet.

Introduce high-pressure gas into the first air inlet and outlet, and the high-pressure gas pushes the first piston to move leftward; at the same time, the high-pressure gas flows through the first air pipe to the third air inlet and outlet, pushing the second piston to the left. Movement to the right. When the piston is moving, it drives the plunger pin and the slider to move in the same direction. For example: the first piston and the first slider move to the left; the second piston and the second slider move to the right. Fingers are arranged on the slider to realize the clamping action of the fingers.

In the same principle, feeding high-pressure gas into the second air inlet and outlet can push the first piston and the first slider to move to the right; the second piston and the second slider to move to the left. Arranging fingers on the slider can realize the finger opening action.

A rolling body is arranged between the slide block and the guide rail, so that there is rolling friction between the slide block and the guide rail, the friction resistance is small, the operation is stable, no noise, and the service life is long. The slider is guided by the guide rail, and the sliding operation of the slider ensures a high degree of linearity. Thus, the clamping or opening of the fingers can ensure a high degree of running accuracy.

Description of drawings

Fig. 1 is the structural representation of the hot forging pick-up manipulator with self-cooling of the utility model;

Fig. 2 is the structural representation of the hot forging pick-up manipulator with self-cooling of the utility model;

Fig. 3 is the structure schematic diagram of the hand claw of the hot forging pick-up manipulator with self-cooling of the utility model;

Fig. 4 is a schematic structural view of the slider module of the utility model with a self-cooling hot forging pick-up manipulator;

Fig. 5 is a structural schematic diagram of the slider module of the utility model with a self-cooling hot forging pick-up manipulator;

Fig. 6 is a structural schematic diagram of the slider module of the utility model with a self-cooling hot forging pick-up manipulator;

Fig. 7 is a schematic structural view of the cross-section at A of the slider module of the utility model with a self-cooling hot forging pick-up manipulator shown in Fig. 5;

Fig. 8 is a schematic structural view of the cross-section at B of the slider module of the utility model with a self-cooling hot forging pick-up manipulator shown in Fig. 6;

Fig. 9 and Fig. 10 are structural schematic diagrams of the fingers of the self-cooling hot forging pick-up manipulator of the present invention.

111 finger body, 112 guide rail, 113 slider, 121 first air inlet and outlet, 122 second air inlet and outlet, 123 first air pipe, 124 second air pipe, 125 first piston, 126 second piston, 127 first cylinder, 128 The 3rd air inlet and outlet, 129 the 4th air inlet and outlet, 1134 first slide block, 1133 first slide block, 130 plunger pins, 131 plunger holes.

Detailed ways

The utility model will be described in further detail below in conjunction with the accompanying drawings, but does not constitute any limitation to the utility model. Similar component numbers in the accompanying drawings represent similar components. As mentioned above, the utility model provides a guide-rail type manipulator, which is used for grasping and transferring materials.

Fig. 1, Fig. 2 are the structure schematic diagrams of the hot forging pick-up manipulator with self-cooling of the utility model, Fig. 3 is the structure schematic diagram of the claw of the hot forging pick-up manipulator with self-cooling of the utility model, Fig. 4, Fig. 5, Figure 6 is a schematic structural view of the slider module of the utility model with a self-cooling hot forging pick-up manipulator, and Figure 7 is a slider module of the utility model with a self-cooling hot forging pick-up manipulator shown in Figure 5 Fig. 8 is a schematic structural diagram of the cross-section at B of the slider module of the utility model with self-cooling hot forging pick-up manipulator shown in Fig. 6 .

A hot forging pick-up manipulator with self-cooling, comprising an arm and a claw 120; the claw is fixedly connected to one end of the arm;

Described arm comprises base plate 210, leading screw 211, long guide rail 219, square slide block 220, nut 213, servomotor 218, shaft coupling 217; A lead screw support seat 215 is movably connected, and the lead screw fixed seat 216 and the lead screw support seat 215 are fixedly connected to the base plate 210; the extension shaft of the servo motor 218 and the lead screw 211 pass through the The coupling 217 realizes the fixed connection; on the other side of the base plate 210, the long guide rail 219 is fixedly connected, the square slider 220 is movably connected to the long guide rail 219, and the square slider 220 is fixedly connected with a Fixed plate 221; described screw 211 is movably connected with described nut 213, and the outside of described nut 213 is fixedly connected with nut connecting plate 212, and the both sides of described nut connecting plate 212 is fixedly connected with vertical plate 214, and described vertical The plate 214 is fixedly connected to the fixed plate 221; the screw 21 and the long guide rail 219 are parallel to each other;

The gripper 120 includes a slider module and fingers 114;

The finger 114 is fixedly connected to the slider;

The slider module includes: a finger body 111, a guide rail 112, a piston, a plunger pin, and a slider; the inside of the finger body 111 is provided with a cylinder, the inside of the cylinder is provided with the piston, and the piston and The cylinder body is matched; the cylinder body is provided with a first air inlet and outlet port 121, a second air inlet and outlet port 122, a third air inlet and outlet port 128, and a fourth air inlet and outlet port 129, and the first air inlet and outlet port 121 is connected to the third air inlet and outlet port. The first air pipe 123 is communicated between the air inlet and outlet 128, and the second air pipe 124 is communicated between the third air inlet and outlet 128 and the fourth air inlet and outlet 129; the plunger pin 130 is fixedly connected to the piston, Described guide rail 112 and described piston are arranged in parallel, and described slider is movably connected on described guide rail 112, and described slider is provided with the plunger hole 131 that described plunger pin matches; The quantity of described slider is 2, including the first slider 1133 and the second slider 1134; the number of the pistons is 2, respectively: the first piston 125 and the second piston 126; the number of the cylinders is 2, respectively : the first cylinder 127 and the second cylinder. The inside of the finger is provided with a channel 1160, the finger 114 is provided with an inlet 1159 and an outlet 1167, and the channel communicates with the inlet 1159 and the outlet 1167; the inside of the finger is provided with a channel 1160, and the finger 114 An inlet 1159 and an outlet 1167 are provided, and the channel communicates the inlet and the outlet.

More specifically, the first piston is arranged in the first cylinder, and the second piston is arranged in the second cylinder.

More specifically, the slider is provided with threaded holes for connecting fingers.

Below in conjunction with Fig. 1 to 10, further describe working principle and working process of the present utility model:

The fixed plate is fixedly connected to the equipment to realize the installation and fixation of the self-cooling hot forging pick-up manipulator of the utility model. The servo motor drives the screw to rotate, and the screw further drives the nut to move linearly relative to the screw. Since the fixed plate is fixedly connected to the equipment, the two sides of the nut connecting plate are fixedly connected with vertical plates, and the vertical plates are fixedly connected to the fixed plate, so the nuts are always kept relative to the fixed plate. unchanged position. Due to the relativity of motion, the lead screw moves linearly relative to the nut and the fixing plate, thereby realizing the extension or retraction of the arm.

The gripper is fixedly connected to one end of the arm, and driven by the extension or retraction of the arm, cooperates with the opening and closing of the gripper to realize the function of grabbing materials.

Introduce high-pressure gas into the first gas inlet and outlet 121, and the high-pressure gas pushes the first piston 125 to move leftward; at the same time, the high-pressure gas flows through the first gas pipe 123 to the third gas inlet and outlet 128, pushing the first piston 125 to move leftward. The second piston 126 moves to the right. When the piston is moving, it drives the plunger pin and the slider to move in the same direction. For example: the first piston 125 and the first slider 1134 move to the left; the second piston 126 and the second slider move to the right. The fingers 114 are arranged on the slider to realize the clamping action of the fingers 114 .

In the same principle, feeding high-pressure gas into the second gas inlet and outlet 122 can push the first piston 125 and the first slider 1134 to move to the right; the second piston 126 and the second slider move to the right. Movement to the left. The finger 114 is arranged on the slider, so that the finger 114 can be opened.

Finally, it should be pointed out that the above embodiments are only representative examples of the present utility model. Apparently, the utility model is not limited to the above-mentioned embodiments, and many variations are possible. Any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention shall be deemed to belong to the protection scope of the present invention.

Claims (1)

1. A hot forging pick-up manipulator with self-cooling is characterized in that it consists of the following: comprising an arm and a claw; the claw is fixedly connected to an end of the arm; The arm includes a base plate, a lead screw, a long guide rail, a square slider, a nut, a servo motor, and a coupling; one end of the lead screw is movably connected with a lead screw fixing seat, and the other end is movably connected with a lead screw support seat. The screw fixing base and the screw supporting base are fixedly connected to the base plate; the extension shaft of the servo motor and the screw are fixedly connected through the coupling; on the other side of the base plate , the long guide rail is fixedly connected, the square slider is movably connected to the long guide rail, and the fixed plate is fixedly connected under the square slider; the nut is movably connected to the screw, and the outside of the nut is fixedly connected There is a nut connecting plate, and vertical plates are fixedly connected to both sides of the nut connecting plate, and the vertical plate is fixedly connected to the fixing plate; the screw and the long guide rail are parallel to each other; The gripper includes a slider module and fingers; The fingers are fixedly connected to the slider; The slider module includes: a finger body, a guide rail, a piston, a plunger pin, and a slider; a cylinder is arranged inside the finger body, the piston is arranged inside the cylinder, and the piston and the cylinder The cylinder body is matched with the first air inlet and outlet, the second air inlet and outlet, the third air inlet and outlet, and the fourth air inlet and outlet, and the first air inlet and outlet communicate with the third air inlet and outlet. An air pipe, a second air pipe communicates between the third air inlet and outlet and the fourth air inlet and outlet; the plunger pin is fixedly connected to the piston, the guide rail and the piston are arranged in parallel, and the slider It is movably connected on the guide rail, and the plunger hole matched with the plunger pin is provided on the slider; the number of the sliders is 2, including the first slider and the second slider; the piston The number of cylinders is 2, namely: the first piston and the second piston; the number of the cylinders is 2, respectively: the first cylinder and the second cylinder; A channel is provided inside the finger, an inlet and an outlet are provided on the finger, and the channel communicates with the inlet and the outlet.