CN100436079C - Pneumatic mechanical hand and method of implementing automatic sheet taking using said mechanical hand - Google Patents
Pneumatic mechanical hand and method of implementing automatic sheet taking using said mechanical hand Download PDFInfo
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- CN100436079C CN100436079C CNB2007100172351A CN200710017235A CN100436079C CN 100436079 C CN100436079 C CN 100436079C CN B2007100172351 A CNB2007100172351 A CN B2007100172351A CN 200710017235 A CN200710017235 A CN 200710017235A CN 100436079 C CN100436079 C CN 100436079C
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Abstract
The present invention discloses a pneumatic robot. It includes the following several portions: supporting frame, first sliding table cylinder, second sliding table cylinder, pneumatic guideway, rotary cylinder, finger cylinder, sliding table and stroke witch. Said invention also provides the concrete connection mode of all the above-mentioned portions, and working principle of said pneumatic robot, and provides the method capable of implementing automatic film-taking operation by utilizing said pneumatic robot.
Description
Technical field
The present invention relates to a kind of Pneumatic manipulator, also relate to and utilize this manipulator to realize the method for copying sheet automatically.
Background technology
Document " publication number is the Chinese invention patent of CN 1701928A " discloses a kind of full pneumatic combined multifunctional industrial manipulator, the method for designing that adopts is a modular construction, be characterized in replaceable end effector, has two degrees of freedom, on Y-axis, has a free sliding degree, have two 1/2 frees degree around Y-axis, integral body can be finished workpiece revolution, rotation, lifting action.Its cantilever and rotating shaft and pull bar are fixed by nut, when cantilever insufficient rigidity during because of needs lengthenings and clamping weight.
Document " patent No. is the Chinese invention patent of CN03114475.6 " discloses a kind of carbon fiber and has strengthened paper friction material and preparation method thereof, and its preparation method adopts Wet-laid friction material.What it copied the sheet employing is to copy the sheet machine by the ZQL-520 type common manual that Shaanxi Tech Univ produces, and adopts complete manual operations to carry out blowing, stirring, setting-out, get sheet.
Summary of the invention
Have only binary deficiency in order to overcome the prior art full pneumatic combined multifunctional industrial manipulator, the invention provides a kind of Pneumatic manipulator, have three degree of freedom, it is more flexible that Pneumatic manipulator is used.
The present invention also provides and utilizes this manipulator to realize the method for copying sheet automatically.
The technical solution adopted for the present invention to solve the technical problems is: a kind of Pneumatic manipulator, comprise support, the first slide unit cylinder, the second slide unit cylinder, rotary cylinder, finger cylinder and travel switch, be characterized in also comprising pneumatic guide rail, slide unit, the first slide unit cylinder level is rack-mount, the second slide unit cylinder is connected in the first slide unit cylinder front end, forms each 1/2 free degree on Y, the Z diaxon; Rotary cylinder is connected on the second slide unit cylinder, and its output shaft can carry out 180 degree rotations, and the finger cylinder is vertically mounted on the output shaft of rotary cylinder, and slide unit is installed on the pneumatic guide rail, and cooperates with pneumatic guide rail, and X-direction reciprocatingly slides in pneumatic guide rail upper edge; Support and slide unit are connected, the gas circuit of each cylinder is connected with compressed air source by high-pressure air pipe, in the sensor mounting groove of each cylinder the proximity travel switch is installed, travel switch is connected with control circuit by lead, the lead of travel switch and the tracheae of cylinder pass the hole of mounting bracket one end, and keep the motion on enough length assurance manipulator all directions.
A kind of method of utilizing above-mentioned Pneumatic manipulator realization to copy sheet automatically is characterized in comprising the steps:
(a) on pneumatic guide rail, two Pneumatic manipulators are positioned at squeeze roll(s) central axis place;
(b) Pneumatic manipulator is by the hole clamping squeeze roll(s) on the plug of squeeze roll(s) two ends;
When (c) Pneumatic manipulator clamping squeeze roll(s) moved to the end of travel of pneumatic guide rail, the second slide unit cylinder was up, and the quilt that squeeze roll(s) is positioned on the forming net is destroyed the material top;
(d) the second slide unit cylinder is copied material by squeeze roll(s) to quilt and is applied thrust, and manipulator drives squeeze roll(s) and copied the setting-out that rolls repeatedly above the material simultaneously;
(e) after setting-out finished, Pneumatic manipulator resetted squeeze roll(s);
(f) Pneumatic manipulator re-positions at the X-direction center of forming net;
(g) Pneumatic manipulator clamping forming net;
(h) second slide unit cylinder commutation makes forming net up along the Z axle, and with pneumatic guide rail edge-directions X operation, while rotary cylinder Rotate 180 degree, forming net and quilt are copied material and are positioned at the cover below of blowing;
(i) the air blowing cover is descending, compresses forming net and seals its periphery, and the pressure-air in the cover of blowing is blown down material monolithic;
(j) the air blowing cover resets, and Pneumatic manipulator band forming net resets, and finishes one and copies the sheet circulation.
The invention has the beneficial effects as follows: because the design of pneumatic guide rail, make outside the present invention's two frees degree of Y, Z, increased the free degree of directions X, use more flexibly, be particularly useful for copying automatically sheet with respect to prior art; The slide unit cylinder moving parts place that selects for use has adopted oat tail groove structure, and compared with prior art, rigidity obviously improves; Utilize manipulator of the present invention to realize the method for copying sheet automatically, than the manual setting-out of prior art firmly evenly, constant airspeed, the setting-out rate is stable.
Below in conjunction with the drawings and specific embodiments the present invention is elaborated.
Description of drawings
Fig. 1 is the structural representation of Pneumatic manipulator of the present invention, wherein, (A) is front view, (B) is left view.
Fig. 2 is the stereogram of Pneumatic manipulator of the present invention.
Fig. 3 utilizes two Pneumatic manipulators to realize copying automatically sheet process schematic diagram.
Fig. 4 is the inventive method flow chart.
Among the figure, 1-support, the 2-first slide unit cylinder, the pneumatic guide rail of 3-, the 4-rotary cylinder, 5-points cylinder, the 6-tracheae, 7-slide unit, 8-travel switch, the 9-forming net, 10-workbench, 11-squeeze roll(s), 12-high-pressure air pipe, the 13-cover of blowing, the 14-positioner, 15-proportion directional control valve, the 16-second slide unit cylinder.
The specific embodiment
With reference to Fig. 1, Pneumatic manipulator of the present invention comprises support 1, the first slide unit cylinder 2, the second slide unit cylinder 16, pneumatic guide rail 3, rotary cylinder 4, finger cylinder 5, slide unit 7 and travel switch 8.The model of the first slide unit cylinder 2 and the second slide unit cylinder 16: SLT-80-40-P-A, cylinder diameter 40mm, stroke 80mm; The model of pneumatic guide rail 3: DGPL-63-2000-PPV-A-B-KF, cylinder diameter 63mm, stroke 2000mm; The model of rotary cylinder 4: DRQD-40-180-YSRJ-A-AL-ZW-E, cylinder diameter 35mm, 0～180 ° of stroke; The model of finger cylinder 5: HGP-35-A-B, cylinder diameter 35mm, stroke 10mm; The model of travel switch 8: SME-8-O-LED-24.Above product is Festo company finished product.Support 1 is made by aluminium alloy, and the first slide unit cylinder, 2 levels are installed on the support 1, and in Y direction, the second slide unit cylinder 16 is vertically mounted on the first slide unit cylinder, 2 front ends by 4 pieces of M8 screws, has formed each 1/2 free degree on Y, the Z diaxon; In Z-direction, rotary cylinder 4 is connected on the second slide unit cylinder 16 by 4 pieces of M8 screws, rotary cylinder 4 is the two air cylinder driven types of 35mm, and its output shaft can carry out 180 degree rotations, guarantees that it bears 1/2 of workpiece rotary inertia under 0.7～0.85MPa operating air pressure; End effector finger cylinder 5 is vertically mounted on the output shaft of rotary cylinder 4, and end effector finger cylinder 5 can be changed different models according to the task of carrying out; Slide unit 7 is installed on the pneumatic guide rail 3, and cooperates with pneumatic guide rail 3, reciprocatingly slides in pneumatic guide rail 3 upper edge X-directions; Support 1 is connected with slide unit 7, and the assurance level; Support 1 also is used for after balance finger cylinder 5 holding workpieces around the torque of X-axis; The gas circuit of each cylinder is connected with air compressor by tracheae, in the sensor mounting groove of each cylinder proximity travel switch 8 is installed, and travel switch 8 is connected with control circuit by lead, triggers when the cylinder piston of band magnet ring arrives the relevant position; The lead of travel switch and the tracheae of cylinder pass the hole of mounting bracket 1 one ends, and keep the motion on enough length assurance manipulator all directions.
With reference to Fig. 3, Fig. 4.For steady pick-and-place of energy and rotary forming net 9, in workbench 10 both sides an above-mentioned Pneumatic manipulator is installed respectively, the pneumatic rail axis (Y direction) of two Pneumatic manipulators is at a distance of 1000mm, and the corresponding cylinder of each of two manipulators is by same loop, the control of same solenoid directional control valve.Positioner 14 and proportion directional control valve 15 have guaranteed the accuracy of big stroke pneumatic guide rail 3 multipoint positioning on the X-direction.Positioner 14 sends control signal and gives proportion directional control valve 15 by pneumatic guide rail 3 piston positions of proximity travel switch perception after the control Computing, big stroke pneumatic guide rail 3 positions are accurately controlled.
It is as follows that manipulator realizes copying automatically the detailed step of sheet: 1. when copying sheet and proceed to the setting-out work step, pneumatic guide rail 3 is positioned at squeeze roll(s) 11 central axis places according to desired location; 2. the first slide unit cylinder 2, the second slide unit cylinder 16 and finger cylinder 5 solenoid directional control valves trigger successively, and the manipulator on the finger cylinder 5 is by each two hole clamping squeeze roll(s) 11 that distribute on the squeeze roll(s) 11 two ends plugs; When 3. clamping squeeze roll(s) Pneumatic manipulator moves to the end of travel of pneumatic guide rail 3, the action of the second slide unit cylinder, 16 edge+Z-directions, the top that makes squeeze roll(s) 11 be positioned at forming net 9 and be copied material; 4. the second slide unit cylinder, 16 edge-Z-directions apply thrust for the material on the forming net 9, and manipulator drives squeeze roll(s) 11 setting-out, along X-axis three times repeatedly; 5. pneumatic guide rail 3, the first slide unit cylinder 2, the second slide unit cylinder 16 and finger cylinder 5 commutate successively, and the manipulator on the finger cylinder 5 resets squeeze roll(s) 11; 6. pneumatic guide rail 3 actions, the manipulator on the finger cylinder 5 re-positions at the X-direction center of forming net 9; 7. the first slide unit cylinder 2, the second slide unit cylinder 16, finger cylinder 4 move successively, by each two clamping hole clamping forming net 9 of forming net 9 both sides; 8. the second slide unit cylinder, 16 commutations make forming net 9 up along the Z axle, and with pneumatic guide rail 3 edge-directions Xs operation, while rotary cylinder 4 Rotate 180 degree, forming net 9 carrying materials are positioned at cover 13 belows of blowing; 9. air blowing cover 13 and high-pressure air pipe 12 are descending, compress forming net 9, the cover 13 lower edge rubber seals of blowing, and the pressure-air that covers in 13 of blowing is blown down material monolithic; 10. air blowing cover 13 and high-pressure air pipe 12 reset, and two manipulator band forming nets 9 reset, and finish one and copy the sheet circulation.
In copying the sheet process automatically,, set the first slide unit cylinder 2, the second slide unit cylinder 16, the stroke of pneumatic guide rail 3 by adjusting the position of proximity travel switch 8 in the cylinder mounting groove according to the thickness of copying sheet material, the difference of radius; Thrust according to the different set second slide unit cylinder 16 of slice, thin piece dehydration rate, wet strength; Size and clamping hole adjustment finger cylinder 5 terminal frocks according to forming net; Copy in the sheet as cylinder strength to occur not enough, can change similar bigger cylinder diameter cylinder easily; As copy blade technolgy and changed work step, also can be by changing control strategy and changing each functional unit to adapt to.
Claims (2)
1, a kind of Pneumatic manipulator, comprise support, the first slide unit cylinder, the second slide unit cylinder, rotary cylinder, finger cylinder and travel switch, it is characterized in that: also comprise pneumatic guide rail, slide unit, the first slide unit cylinder level is rack-mount, the second slide unit cylinder is connected in the first slide unit cylinder front end, forms each 1/2 free degree on Y, the Z diaxon; Rotary cylinder is connected on the second slide unit cylinder, and its output shaft can carry out 180 degree rotations, and the finger cylinder is vertically mounted on the output shaft of rotary cylinder, and slide unit is installed on the pneumatic guide rail, and cooperates with pneumatic guide rail, and X-direction reciprocatingly slides in pneumatic guide rail upper edge; Support and slide unit are connected, the gas circuit of each cylinder is connected with compressed air source by high-pressure air pipe, in the sensor mounting groove of each cylinder the proximity travel switch is installed, travel switch is connected with control circuit by lead, the lead of travel switch and the tracheae of cylinder pass the hole of mounting bracket one end, and keep the motion on enough length assurance manipulator all directions.
2, a kind of described Pneumatic manipulator of claim 1 that utilizes is realized the method for copying sheet automatically, it is characterized in that comprising the steps:
(a) on pneumatic guide rail, two Pneumatic manipulators are positioned at squeeze roll(s) central axis place;
(b) Pneumatic manipulator is by the hole clamping squeeze roll(s) on the plug of squeeze roll(s) two ends;
When (c) Pneumatic manipulator clamping squeeze roll(s) moved to the end of travel of pneumatic guide rail, the second slide unit cylinder was up, and the quilt that squeeze roll(s) is positioned on the forming net is destroyed the material top;
(d) the second slide unit cylinder is copied material by squeeze roll(s) to quilt and is applied thrust, and manipulator drives squeeze roll(s) and copied the setting-out that rolls repeatedly above the material simultaneously;
(e) after setting-out finished, Pneumatic manipulator resetted squeeze roll(s);
(f) Pneumatic manipulator re-positions at the X-direction center of forming net;
(g) Pneumatic manipulator clamping forming net;
(h) second slide unit cylinder commutation makes forming net up along the Z axle, and with pneumatic guide rail edge-directions X operation, while rotary cylinder Rotate 180 degree, forming net and quilt are copied material and are positioned at the cover below of blowing;
(i) the air blowing cover is descending, compresses forming net and seals its periphery, and the pressure-air in the cover of blowing is blown down material monolithic;
(j) the air blowing cover resets, and Pneumatic manipulator band forming net resets, and finishes one and copies the sheet circulation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100172351A CN100436079C (en) | 2007-01-12 | 2007-01-12 | Pneumatic mechanical hand and method of implementing automatic sheet taking using said mechanical hand |
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| CNB2007100172351A CN100436079C (en) | 2007-01-12 | 2007-01-12 | Pneumatic mechanical hand and method of implementing automatic sheet taking using said mechanical hand |
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| CN100999076A CN100999076A (en) | 2007-07-18 |
| CN100436079C true CN100436079C (en) | 2008-11-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102554923A (en) * | 2012-02-23 | 2012-07-11 | 刘亮华 | Clamping manipulator of full-automatic winding machine |
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| CN102139485B (en) * | 2011-02-14 | 2013-01-30 | 山东爱通工业机器人科技有限公司 | Flexible multifunctional mechanical arm |
| CN102424270A (en) * | 2011-09-30 | 2012-04-25 | 陈宁宁 | Manipulator for carrying highway guardrail plates |
| CN103569668A (en) * | 2012-08-03 | 2014-02-12 | 苏州工业园区新明亚电子科技有限公司 | Automatic wire withdrawing device |
| CN104647455B (en) * | 2013-11-20 | 2016-08-17 | 上海理工大学 | The clamping device of homogeneous allogenic bone cutting equipment |
| CN104669287A (en) * | 2013-12-02 | 2015-06-03 | 苏州市吴中区临湖俊峰机械厂 | Rotation type mechanical pneumatic clip of rotation type up and down clamping mechanical arm |
| CN103846484B (en) * | 2014-03-31 | 2016-06-08 | 浙江博雷重型机床制造有限公司 | A kind of tooth bar steel billet milling machine with steering mechanical hand |
| CN103846481B (en) * | 2014-03-31 | 2016-08-17 | 浙江博雷重型机床制造有限公司 | A kind of combination type machining production line for tooth bar steel billet |
| CN103846483B (en) * | 2014-03-31 | 2016-07-13 | 浙江博雷重型机床制造有限公司 | A kind of tooth bar steel billet milling machine with material conveying platform |
| CN103846482B (en) * | 2014-03-31 | 2016-08-17 | 浙江博雷重型机床制造有限公司 | A kind of tooth bar steel billet milling machine with milling machine discharger |
| CN104452414A (en) * | 2014-10-21 | 2015-03-25 | 华南理工大学 | Handsheet squeezing device and method |
| CN109500575A (en) * | 2018-11-15 | 2019-03-22 | 盐城市华悦汽车部件有限公司 | A kind of bushing assembling equipment of automobile hanging lower swing arm |
| CN109385932A (en) * | 2018-11-23 | 2019-02-26 | 长沙云聚汇科技有限公司 | A kind of device preparing the non-woven fabrics automobile interior decoration with 3D sense of touch |
| CN110142640A (en) * | 2019-06-10 | 2019-08-20 | 鄂州职业大学 | Milling machine based on pneumatic antomation processes feed device |
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| CN1446875A (en) * | 2003-01-28 | 2003-10-08 | 西北工业大学 | Paper based friction material with carbon fibers enhanced and its preparation method |
| US20040144021A1 (en) * | 2000-08-25 | 2004-07-29 | Agrinomics Llc | Robotic seed-planting apparatus and methods |
| CN1701928A (en) * | 2005-06-13 | 2005-11-30 | 西安思源职业学院 | Full pneumatic combined multifunctional industrial manipulator |
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2007
- 2007-01-12 CN CNB2007100172351A patent/CN100436079C/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040144021A1 (en) * | 2000-08-25 | 2004-07-29 | Agrinomics Llc | Robotic seed-planting apparatus and methods |
| CN1446875A (en) * | 2003-01-28 | 2003-10-08 | 西北工业大学 | Paper based friction material with carbon fibers enhanced and its preparation method |
| CN1701928A (en) * | 2005-06-13 | 2005-11-30 | 西安思源职业学院 | Full pneumatic combined multifunctional industrial manipulator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102554923A (en) * | 2012-02-23 | 2012-07-11 | 刘亮华 | Clamping manipulator of full-automatic winding machine |
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| CN100999076A (en) | 2007-07-18 |
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Effective date of registration: 20200417 Address after: 710000 Xianhu road junction, Fengxi new town, Xixian New District, Xi'an City, Shaanxi Province Patentee after: SHAANXI HANGFENG NEW MATERIAL Co.,Ltd. Address before: 710072 Xi'an friendship West Road, Shaanxi, No. 127 Patentee before: Northwestern Polytechnical University |
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Denomination of invention: Pneumatic manipulator and method for realizing automatic sheet copying by using the manipulator Effective date of registration: 20220419 Granted publication date: 20081126 Pledgee: Shaanxi Aviation Industry Development Group Co.,Ltd. Pledgor: SHAANXI HANGFENG NEW MATERIAL Co.,Ltd. Registration number: Y2022610000156 |