Material-charging material-taking servo simulated manipulator

Abstract

The invention provides a material-charging material-taking servo simulated manipulator, belonging to manipulators, and is used for charging and taking materials of large-scale workpieces. According to the invention, a vehicle body moves and a rotary workbench rotates under full-hydraulic power; a front large arm, a middle large arm, a back large arm, an upper small arm, a lower small arm, a link board, an upper toggle rod, a lower toggle rod and the rotary workbench form three parallelograms; the cylinder rod of a lifting oil cylinder is articulated with the lower toggle rod; the cylinder rod of a link rod telescopic oil cylinder is articulated with the middle large arm; a rotary support hydraulic motor drives a tongs head portion to swing; a tongs head telescopic oil cylinder drives the telescopic oil cylinder to extend and retract; a tongs head rotary hydraulic motor is connected with a worm and worm wheel mechanism; a hollow worm wheel shaft is connected with a hollow shaft; a pull rod is connected with the tongs head; the tongs head rotary hydraulic motor drives the tongs head to rotate; the cylinder rod of the clamp cylinder with the cylinder rod located on the axis of the worm wheel shaft is connected with the pull rod to drive the tongs head to clamp or release. The manipulator provided by the invention solves the technical problems of constant angle changes of the mechanical arms and the rotary workbench driven by the pitching oil cylinder of the existing material-charging material-taking manipulator and defects of the clamp rotation mechanism.

Description

technical field [0001] The invention belongs to a manipulator, in particular to a servo simulation manipulator for loading and unloading large workpieces. Background technique [0002] With the development of industrial production, higher requirements are put forward for the working efficiency and precision of loading and unloading manipulators. Chinese utility model patent authorization announcement number CN 2657879Y "Eight degrees of freedom loading and unloading manipulator" discloses a sleeve on the upper part of the rotary table of the upper car plate, and the mechanical arm is supported in the sleeve; the parallel four-bar linkage mechanism The lower inclined end of the lower support rod is hinged with the sleeve, the lower part of the rear support rod is hinged with the inclined upper end of the lower support rod; The support rod is hinged, the rear part of the tilting cylinder is hinged with the rotary table, and the piston rod of the tilting cylinder is hinged wi...

AI Technical Summary

Problems solved by technology

The reasonable layout of the collet rotating mechanism and the jaw clamping mechanism is arranged in series front and back, while the swing cylinder of the collet rotating mechanism blocks the connection between the jaw clamping mechanism and the jaws

In addition, the chuck rotation mechanism of the existing loading and unloading manipulator also adopts a slewing support structure, which has the disadvantages of no self-locking function, low precision, large shape, high production cost, and difficult installation, maintenance and control.

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