CN102259339A - Manipulator - Google Patents
Manipulator Download PDFInfo
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- CN102259339A CN102259339A CN2011100427376A CN201110042737A CN102259339A CN 102259339 A CN102259339 A CN 102259339A CN 2011100427376 A CN2011100427376 A CN 2011100427376A CN 201110042737 A CN201110042737 A CN 201110042737A CN 102259339 A CN102259339 A CN 102259339A
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- turning joint
- manipulator
- connecting axle
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- scanner
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Abstract
The invention relates to a manipulator for processing a corrugated web. The manipulator comprises a base and a manipulator arm; the base is provided with at least one of a scanner, a cutting machine and a welding machine; and the manipulator arm comprises a movable joint I, a movable joint II, a movable joint III, a movable joint IV, a movable joint V and a movable joint VI which are sequentially connected. Since six movable joints are adopted in the technical scheme and each movable joint has large movable range, the manipulator has high freedom degree and can meet the requirement of processing the corrugated web better; one or more of the scanner, the cutting mechanism and the welding machine is or are arranged on the manipulator base to realize the replacement of tools; and the manipulator disclosed by the technical scheme can freely select the used tool, so that two sets of manipulators are reduced.
Description
Technical field
The present invention relates to a kind of manipulator, relate in particular to a kind of manipulator that is used for corrugated web processing.
Background technology
H shaped steel is because cross section economical rationality, superior performance, processing and fabricating and installation technology are simple, convenient, fast, become material components important in the construction steel structure system, thereby be widely used in the every field of the development of the national economy, industrial premises, the tower body equipment supporter, the steel smelting platform of metallurgy industry, high furnace frame, track etc., the coal bunker of power plant, conveying gallery etc., large-scale constructions such as land and offshore oil drilling platform, vehicle, warehouse style large supermarket, bridge tunnel all have been applied to the H shaped steel of all size, size.
Generally use at present web, be generally flat web in the structural steel field.Because high ° of the cross section of this flat web is bigger, when less shear stress or direct stress, occurs the local buckling or the distortion of web easily.In order to prolong the service life of web, mainly be adopt to improve thick ° of web or vertical or horizontal reinforcement gusset is set in the web both sides.Operation is not only wasted time and energy like this, but also the waste resource increases production cost.
The web of producing at present H shaped steel is flat web, because that flat web H shaped steel has service life is shorter, the waste resource is more, the more high problem and shortage of production cost.Corrugated web has overcome the shortcoming that flat web exists, and becomes a kind of novel structural steel.But the processing method of flat web and production technology are comparatively simple, lack flat web is carried out moulding system of processing, thereby, can not adapt to the production in enormous quantities and the processing of corrugated web.
Summary of the invention
Purpose of the present invention is exactly at the existing in prior technology deficiency, and a kind of technical scheme of manipulator is provided.This programme can effectively solve the production in enormous quantities and the processing problems of existing corrugated web.
This programme is realized by following technique measures: manipulator of the present invention, include pedestal and mechanical arm, and its special feature is: described pedestal is provided with at least one in scanner, cutting machine and the welding machine; Described mechanical arm comprises turning joint I, turning joint II, turning joint III, turning joint IV, turning joint V, the turning joint VI that connects in turn, and turning joint I is connecting on the pedestal.
In order further to improve the technical program, the special feature of manipulator of the present invention also is: described turning joint I is 360 ° of rotations vertically.
In order further to improve the technical program, the special feature of manipulator of the present invention also is: described turning joint I is connected with turning joint II by connecting axle I, and turning joint II swings along connecting axle I.
In order further to improve the technical program, the special feature of manipulator of the present invention also is: described turning joint II is connected with turning joint III by connecting axle II, and turning joint III swings up and down along connecting axle II.
In order further to improve the technical program, the special feature of manipulator of the present invention also is: described turning joint IV is 360 ° of rotations vertically.
In order further to improve the technical program, the special feature of manipulator of the present invention also is: described turning joint IV is connected with turning joint V by connecting axle III, and turning joint V swings up and down along connecting axle III.
In order further to improve the technical program, the special feature of manipulator of the present invention also is: described turning joint VI is 360 ° of rotations vertically.
In order further to improve the technical program, the special feature of manipulator of the present invention also is: described scanner or cutting machine or welding machine are connected with turning joint VI.
In order further to improve the technical program, the special feature of manipulator of the present invention also is: described scanner is an infrared ray location scanning instrument.
In order further to improve the technical program, the special feature of manipulator of the present invention also is: described welding machine is the gas shield welding machine.
The beneficial effect of this programme can be learnt according to the narration to such scheme, because the manipulator of the technical program adopts six turning joints, and the scope of activities of each turning joint is bigger, has the free degree preferably, can realize processing the needs of corrugated web well; Robot base is provided with one or several in scanner, cutting machine, the welding machine, has realized that manipulator realized the instrument transposing; Because the manipulator of the technical program can freely be selected employed instrument as required, thereby reduce by two cover manipulators.This shows that the present invention compared with prior art has outstanding substantive distinguishing features and obvious improvement, the beneficial effect of its enforcement also is conspicuous.
Description of drawings
Fig. 1 is the structural representation of manipulator of the present invention.
Wherein, 1 is turning joint I, and 2 are turning joint II, and 3 are turning joint III, and 4 are turning joint IV, 5 are turning joint V, and 6 are turning joint VI, and 7 is scanner, and 8 is cutting machine, and 9 is welding machine, 10 is pedestal, and 11 is connecting axle I, and 12 is connecting axle II, and 13 is connecting axle III.
The specific embodiment
For clearly demonstrating the technical characterstic of this programme,, and, this programme is set forth in conjunction with its accompanying drawing below by a specific embodiment.
By accompanying drawing 1 as can be seen, manipulator of the present invention comprises that described pedestal 10 is provided with at least one in scanner 7, cutting machine 8 and the welding machine 9; Described mechanical arm comprises turning joint I 1, turning joint II 2, turning joint III 3, turning joint IV 4, turning joint V 5, the turning joint VI 6 that connects in turn, and turning joint I 1 is connecting on the pedestal 10; Turning joint I 1 is 360 ° of rotations vertically; Turning joint II 2 swings along connecting axle I 11; Turning joint III 3 swings up and down along connecting axle II 12; Described turning joint IV 4 is 360 ° of rotations vertically; Turning joint V 5 swings up and down along connecting axle III 13; Turning joint VI 6 is 360 ° of rotations vertically.
The staff at first sets program on the control device, starts manipulator then and is worked according to instruction.The turning joint I 1 of manipulator, turning joint II 2, turning joint III 3, turning joint IV 4, turning joint V 5, turning joint VI 6 can be rotated at any time or be swung according to work station in process.Turning joint I 1, turning joint II 2, turning joint III 3, turning joint IV 4, turning joint V 5, turning joint VI 6 have only one of them turning joint to rotate separately or swing, also can be that rotation or swing separately done in several turning joints simultaneously.
In the process of corrugated web, manipulator of the present invention at first scans by the scanner 7 that turning joint VI 6 grasps on the pedestal according to instruction, and after the been scanned, manipulator is abandoned scanner 7 and grasped welding machine 9 and weld.Cutting at first is to use scanner 7 to scan if desired, and after the been scanned, manipulator is abandoned scanner 7 and grasped cutting machine 8 and cut; Weld by welding machine 9 then, thereby finish the processing of corrugated web.
Claims (10)
1. a manipulator includes pedestal (10) and mechanical arm, it is characterized in that: described pedestal (10) is provided with at least one in scanner (7), cutting machine (8) and the welding machine (9); Described mechanical arm comprises in turn the turning joint I(1 that connects), turning joint II(2), turning joint III(3), turning joint IV(4), turning joint V(5), turning joint VI(6), turning joint I(1) connecting on the pedestal (10).
2. manipulator according to claim 1 is characterized in that: 360 ° of rotations vertically described turning joint I(1).
3. manipulator according to claim 1 is characterized in that: described turning joint I(1) by connecting axle I(11) with turning joint II(2) be connected turning joint II(2) along connecting axle I(11) swing.
4. manipulator according to claim 1 is characterized in that: described turning joint II(2) by connecting axle II(12) with turning joint III(3) be connected turning joint III(3) along connecting axle II(12) swing up and down.
5. manipulator according to claim 1 is characterized in that: 360 ° of rotations vertically described turning joint IV(4).
6. manipulator according to claim 1 is characterized in that: described turning joint IV(4) by connecting axle III(13) with turning joint V(5) be connected turning joint V(5) along connecting axle III(13) swing up and down.
7. manipulator according to claim 1 is characterized in that: 360 ° of rotations vertically described turning joint VI(6).
8. according to the described manipulator of arbitrary claim in the claim 2 to 7, it is characterized in that: described scanner (7) or cutting machine (8) or welding machine (9) and turning joint VI(6) be connected.
9. manipulator according to claim 8 is characterized in that: described scanner (7) is an infrared ray location scanning instrument.
10.. manipulator according to claim 8 is characterized in that: described welding machine (9) is the gas shield welding machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100427376A CN102259339A (en) | 2011-02-23 | 2011-02-23 | Manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100427376A CN102259339A (en) | 2011-02-23 | 2011-02-23 | Manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102259339A true CN102259339A (en) | 2011-11-30 |
Family
ID=45006270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011100427376A Pending CN102259339A (en) | 2011-02-23 | 2011-02-23 | Manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102259339A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500357A (en) * | 2016-01-15 | 2016-04-20 | 苏州艾力光电科技有限公司 | Loading and unloading mechanical arm |
| CN105856221A (en) * | 2016-05-06 | 2016-08-17 | 江苏泰昌电子有限公司 | Compact manipulator for 360-degree automatic welding of inductors |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5828813A (en) * | 1995-09-07 | 1998-10-27 | California Institute Of Technology | Six axis force feedback input device |
| EP0884141A1 (en) * | 1996-10-24 | 1998-12-16 | Fanuc Ltd. | Force control robot system with visual sensor for inserting work |
| CN200977655Y (en) * | 2006-12-02 | 2007-11-21 | 武汉德宝机电设备制造有限公司 | Three-dimensional scaling apparatus of six-spindle robot system for automobile producing line |
| US20090197217A1 (en) * | 2001-04-13 | 2009-08-06 | Orametrix, Inc. | Robot and method for bending orthodontic archwires and other medical devices |
| CN101657767A (en) * | 2007-02-19 | 2010-02-24 | 费劳恩霍弗应用技术研究院 | Method and device for controlling robots for welding workpieces |
| CN201511369U (en) * | 2009-09-11 | 2010-06-23 | 华南理工大学 | Modular robot motion arm |
| CN202155656U (en) * | 2011-02-23 | 2012-03-07 | 山东金瑞诺华兴机械有限公司 | Manipulator |
-
2011
- 2011-02-23 CN CN2011100427376A patent/CN102259339A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5828813A (en) * | 1995-09-07 | 1998-10-27 | California Institute Of Technology | Six axis force feedback input device |
| EP0884141A1 (en) * | 1996-10-24 | 1998-12-16 | Fanuc Ltd. | Force control robot system with visual sensor for inserting work |
| US20090197217A1 (en) * | 2001-04-13 | 2009-08-06 | Orametrix, Inc. | Robot and method for bending orthodontic archwires and other medical devices |
| CN200977655Y (en) * | 2006-12-02 | 2007-11-21 | 武汉德宝机电设备制造有限公司 | Three-dimensional scaling apparatus of six-spindle robot system for automobile producing line |
| CN101657767A (en) * | 2007-02-19 | 2010-02-24 | 费劳恩霍弗应用技术研究院 | Method and device for controlling robots for welding workpieces |
| CN201511369U (en) * | 2009-09-11 | 2010-06-23 | 华南理工大学 | Modular robot motion arm |
| CN202155656U (en) * | 2011-02-23 | 2012-03-07 | 山东金瑞诺华兴机械有限公司 | Manipulator |
Non-Patent Citations (1)
| Title |
|---|
| 吴涛: "工业机器人切削加工离线编程研究", 《浙江大学硕士学位论文》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500357A (en) * | 2016-01-15 | 2016-04-20 | 苏州艾力光电科技有限公司 | Loading and unloading mechanical arm |
| CN105856221A (en) * | 2016-05-06 | 2016-08-17 | 江苏泰昌电子有限公司 | Compact manipulator for 360-degree automatic welding of inductors |
| CN105856221B (en) * | 2016-05-06 | 2018-02-09 | 江苏泰昌电子有限公司 | 360 degree of automatic welding inductance compact mechanical hands |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| ASS | Succession or assignment of patent right |
Owner name: SHANDONG GOLD RHINO HUAXING MACHINERY CO., LTD. Free format text: FORMER OWNER: SHANDONG HUAXING MACHINERY CO., LTD. Effective date: 20120117 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20120117 Address after: In the street 256500 Shandong city of Binzhou province Boxing County No. 1678 Applicant after: Shandong Gold Ruino Huaxing Machinery Co., Ltd. Address before: In the street of Boxing town in Shandong province Binzhou city Boxing County 256500 No. 167 Applicant before: Shandong Huaxing Group CO.,LTD. |
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| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20111130 |