CN102145488A - Flexible four-DOF (Degree of Freedom) mechanical arm - Google Patents

Flexible four-DOF (Degree of Freedom) mechanical arm Download PDF

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Publication number
CN102145488A
CN102145488A CN 201110037531 CN201110037531A CN102145488A CN 102145488 A CN102145488 A CN 102145488A CN 201110037531 CN201110037531 CN 201110037531 CN 201110037531 A CN201110037531 A CN 201110037531A CN 102145488 A CN102145488 A CN 102145488A
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China
Prior art keywords
fixed
displacement cylinder
pawl
flexible
horizontal
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Granted
Application number
CN 201110037531
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Chinese (zh)
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CN102145488B (en
Inventor
张乐贡
李元波
张浦
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SHANDONG BETOP COMMUNICATION CO Ltd
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SHANDONG BETOP COMMUNICATION CO Ltd
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Priority to CN 201110037531 priority Critical patent/CN102145488B/en
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Abstract

The invention relates to a flexible four-DOF (Degree of Freedom) mechanical arm, relating to mechanical arms. The flexible four-DOF mechanical arm comprises a bracket device and a pneumatic device, wherein the bracket device comprises a horizontal fixed plate, a material storage bracket, vertical brackets and fixed baseboards, wherein both sides of the horizontal fixed plate are respectively fixed with the vertical brackets through positioning pins and bolts; the bottoms of the vertical brackets are fixed with the fixed baseboards through bolts; the material storage bracket is fixed between the two vertical brackets and provided with a material storing device; the pneumatic device comprises a horizontal displacement cylinder, a vertical displacement cylinder, a rotary cylinder and a pneumatic claw, wherein the bottom of the horizontal displacement cylinder is fixed on a connecting piece; the connecting piece is fixed on the horizontal fixed plate through bolts; the bottom of the vertical displacement cylinder is fixed on one end of the horizontal displacement cylinder; the tail end of the vertical displacement cylinder is fixed with the rotary cylinder; and the rotary cylinder is fixed with the pneumatic claw through a flange. In the invention, the blocky parts or the parts with inner holes can be conveniently grabbed and arranged on specified positions, and the invention has the advantages of high grabbing accuracy and reliability and small size.

Description

A kind of flexible four-degree-of-freedom manipulator
Technical field
The present invention relates to a kind of manipulator, specifically a kind of flexible four-degree-of-freedom manipulator.
Background technology
Development along with technology, manipulator more and more is applied to all kinds of fields, especially automatic production line, but the employed manipulator of automatic production line is bigger mostly at present, be not suitable for producing the less part of volume, because micro parts is difficult for clamping, will be very strict to the manufacturing requirement of manipulator, should realize that high-precision extracting also will improve functional reliability.The for example production of civilian power switch because a part volume is less, is difficult for grasping, and also adopts artificial the installation at present, and is very inconvenient.
Summary of the invention
The object of the present invention is to provide a kind of flexible four-degree-of-freedom manipulator, address the above problem.
The technical solution adopted for the present invention to solve the technical problems is: a kind of flexible four-degree-of-freedom manipulator, comprise holder device and the pneumatic means that is fixed on the holder device, it is characterized in that, described holder device comprises horizontal fixed plate, accumulator support, staking and fixing sole, the both sides of horizontal fixed plate are fixed with a staking respectively by alignment pin and bolt, the bottom of staking is fixed with fixedly sole by bolt and alignment pin, between two stakings, also be fixed with an accumulator support, on the accumulator support storage device be installed; Described pneumatic means comprises horizontal displacement cylinder, vertical displacement cylinder, the gentle pawl of rotary cylinder, the bottom of horizontal displacement cylinder is fixed on the connector, connector is by being bolted on the horizontal fixed plate, the bottom of vertical displacement cylinder is fixed on an end of horizontal displacement cylinder, the end of vertical displacement cylinder is fixed with rotary cylinder, and rotary cylinder is fixed with the gas pawl by flange; Described storage device comprises the storing pipe, is provided with multi-layer groove in the storing pipe, and groove matches with the shape of material, and the end of storing pipe is equipped with the end face fixed head by screw; Also be provided with storing pipe lid on the described storage device, storing pipe lid is fixed on storing pipe upper surface both sides by screw; Also be provided with Fibre Optical Sensor on the described storage device, described Fibre Optical Sensor is between storing pipe and end face fixed head; The end of described vertical displacement cylinder also can pass through the direct fixed air pawl of flange; Described gas pawl can adopt parallel gas pawl, treibgas pawl or card slot type gas pawl in also can adopting; The pawl head of treibgas pawl is cylindrical in described, in be provided with the gas claw bar, the end of gas claw bar is provided with cavity, is provided with ball in the cavity, cavity wall is provided with a circular hole, the diameter of circular hole is not more than ball, is provided with spring between ball and the cavity wall.
The invention has the beneficial effects as follows: can grasp block part easily or the part of endoporus is arranged, put into assigned address, grasp the precision height, the reliability height, volume is little.
Description of drawings
Fig. 1 is a structural representation of the present invention,
Fig. 2 A is the vertical view of storage device of the present invention,
Fig. 2 B is the left view of storage device of the present invention,
Fig. 3 is a treibgas pawl structural representation in the present invention,
Fig. 4 is a card slot type gas pawl structural representation of the present invention,
Fig. 5 is a duty block diagram of the present invention.
Among the figure: 1 horizontal fixed plate, 2 accumulator supports, 3 stakings, 4 fixing soles, 5 horizontal displacement cylinders, 6 vertical displacement cylinders, 7 rotary cylinders, 8 gas pawls, treibgas pawl in 81,811 pawl heads, 812 gas claw bars, 813 cavitys, 814 balls, 815 springs, 82 card slot type gas pawls, 9 connectors, 10 flanges, 11 storing pipes, 12 end face fixed heads, 13 storing pipes lid, 14 Fibre Optical Sensors.
The specific embodiment
As Fig. 1, Fig. 2 A, shown in Fig. 2 B, a kind of flexible four-degree-of-freedom manipulator, comprise holder device and the pneumatic means that is fixed on the holder device, described holder device comprises horizontal fixed plate 1, accumulator support 2, staking 3 and fixing sole 4, the both sides of horizontal fixed plate 1 are fixed with a staking 3 respectively by alignment pin and bolt, the bottom of staking 3 is fixed with fixedly sole 4 by bolt and alignment pin, between two stakings 3, also be fixed with an accumulator support 2, on the accumulator support 2 storage device be installed; Described pneumatic means comprises horizontal displacement cylinder 5, vertical displacement cylinder 6, rotary cylinder 7 gentle pawls 8, the bottom of horizontal displacement cylinder 5 is fixed on the connector 9, connector 9 is by a plurality of bolted, can adjust the front and back position of horizontal displacement cylinder 5 by loose bolts, connector 9 is by on the strip locating hole that is bolted to horizontal fixed plate 1, can adjust the left and right displacement of connector 9 as required, also can adjust the left and right displacement of integral body by the fixing strip hole of sole 4, the bottom of vertical displacement cylinder 6 is fixed on an end of horizontal displacement cylinder 5, the end of vertical displacement cylinder 6 is fixed with rotary cylinder 7, and rotary cylinder 7 is fixed with gas pawl 8 by flange 10; Described storage device comprises storing pipe 11, is provided with multi-layer groove in the storing pipe 11, and groove matches with the shape of material, and the end of storing pipe 11 is equipped with end face fixed head 12 by screw; Also be provided with storing pipe lid 13 on the described storage device, storing pipe lid 13 is fixed on storing pipe 11 upper surface both sides by screw, the power because material has certain effect in materail tube each other, therefore the problem that easy generation has been lifted up because of extruding, can push down the two ends of material by storing pipe lid 13, material is in the plane always, keeps the stability of material; Also be provided with Fibre Optical Sensor 14 on the described storage device, whether described Fibre Optical Sensor 14 can be used to detect material and puts in place between storing pipe 11 and end face fixed head 12, improves the degree of accuracy; The end of described vertical displacement cylinder 6 also can pass through flange 10 direct fixed air pawls 8; Described gas pawl 8 can adopt parallel gas pawl, and treibgas pawl 81 in also can adopting is used for grasping the material that has endoporus; As shown in Figure 3, the pawl head 811 of treibgas pawl 81 is cylindrical in described, in be provided with gas claw bar 812, the end of gas claw bar 812 is provided with cavity 813, be provided with ball 814 in the cavity 813, cavity wall is provided with a circular hole, and the diameter of circular hole is not more than ball, is provided with spring 815 between ball 814 and the cavity wall, when extracting has the material of endoporus, the end of gas claw bar 812 extend in the material endoporus, and ball 814 withstands the material inwall material is taken up under the effect of spring 815.As shown in Figure 4, described gas pawl 8 also can adopt card slot type gas pawl 82.
Embodiment one: the bottom of horizontal displacement cylinder 5 is fixed on the connector 9, connector 9 is by being bolted on the horizontal fixed plate 1, the bottom of vertical displacement cylinder 6 is fixed on an end of horizontal displacement cylinder 5, the end of vertical displacement cylinder 6 is fixed with rotary cylinder 7, and rotary cylinder 7 is fixed with parallel gas pawl by flange 10.
Embodiment two: the bottom of horizontal displacement cylinder 5 is fixed on the connector 9, connector 9 is by being bolted on the horizontal fixed plate 1, the bottom of vertical displacement cylinder 6 is fixed on an end of horizontal displacement cylinder 5, the end of vertical displacement cylinder 6 is fixed with rotary cylinder 7, treibgas pawl 81 or card slot type gas pawl 82 in rotary cylinder 7 is fixed with by flange 10.
Embodiment three: the bottom of horizontal displacement cylinder 5 is fixed on the connector 9, connector 9 is by being bolted on the horizontal fixed plate 1, the bottom of vertical displacement cylinder 6 is fixed on an end of horizontal displacement cylinder 5, and the end of vertical displacement cylinder 6 is fixed with parallel gas pawl by flange 10.
Operation principle: as shown in Figure 5, vertical displacement cylinder 6 drives gas pawl 8 and moves downward, move to storing pipe 11 places, gas pawl 8 grasps material, vertical displacement cylinder 6 drives gas pawl 8 and moves upward, when moving to the top, horizontal displacement cylinder 5 drives vertical displacement cylinder 6 and proceeds to assigned address, simultaneously under the drive of rotary cylinder 7, gas pawl 8 half-twists, vertical displacement cylinder 6 drives gas pawl 8 and moves downward, and gas pawl 8 is moved upward by 6 drives of vertical displacement cylinder after material is put into the appointment station again, during to the top under the drive of rotary cylinder 7, gas pawl 8 half-twists are got back to original position, and horizontal displacement this moment cylinder 5 drives vertical displacement cylinder 6 and is back to original position, so far is a circulation.

Claims (7)

1. flexible four-degree-of-freedom manipulator, comprise holder device and the pneumatic means that is fixed on the holder device, it is characterized in that, described holder device comprises horizontal fixed plate, accumulator support, staking and fixing sole, the both sides of horizontal fixed plate are fixed with a staking respectively by alignment pin and bolt, there is fixedly sole the bottom of staking by bolting, also is fixed with an accumulator support between two stakings, on the accumulator support storage device is installed; Described pneumatic means comprises horizontal displacement cylinder, vertical displacement cylinder, the gentle pawl of rotary cylinder, the bottom of horizontal displacement cylinder is fixed on the connector, connector is by being bolted on the horizontal fixed plate, the bottom of vertical displacement cylinder is fixed on an end of horizontal displacement cylinder, the end of vertical displacement cylinder is fixed with rotary cylinder, and rotary cylinder is fixed with the gas pawl by flange.
2. a kind of flexible four-degree-of-freedom manipulator according to claim 1, it is characterized in that described storage device comprises the storing pipe, be provided with multi-layer groove in the storing pipe, groove matches with the shape of material, and the end of storing pipe is equipped with the end face fixed head by screw.
3. a kind of flexible four-degree-of-freedom manipulator according to claim 1 and 2 is characterized in that, also is provided with storing pipe lid on the described storage device, and storing pipe lid is fixed on storing pipe upper surface both sides by screw.
4. a kind of flexible four-degree-of-freedom manipulator according to claim 1 and 2 is characterized in that also be provided with Fibre Optical Sensor on the described storage device, described Fibre Optical Sensor is between storing pipe and end face fixed head.
5. a kind of flexible four-degree-of-freedom manipulator according to claim 1 is characterized in that, the end of described vertical displacement cylinder also can pass through the direct fixed air pawl of flange.
6. a kind of flexible four-degree-of-freedom manipulator according to claim 1 is characterized in that described gas pawl can adopt parallel gas pawl, treibgas pawl or card slot type gas pawl in also can adopting.
7. a kind of flexible four-degree-of-freedom manipulator according to claim 6, it is characterized in that, the pawl head of treibgas pawl is cylindrical in described, in be provided with the gas claw bar, the end of gas claw bar is provided with cavity, is provided with ball in the cavity, and cavity wall is provided with a circular hole, the diameter of circular hole is not more than ball, is provided with spring between ball and the cavity wall.
CN 201110037531 2011-02-14 2011-02-14 Flexible four-DOF (Degree of Freedom) mechanical arm Active CN102145488B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201110037531 CN102145488B (en) 2011-02-14 2011-02-14 Flexible four-DOF (Degree of Freedom) mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201110037531 CN102145488B (en) 2011-02-14 2011-02-14 Flexible four-DOF (Degree of Freedom) mechanical arm

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CN102145488A true CN102145488A (en) 2011-08-10
CN102145488B CN102145488B (en) 2012-12-26

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102285146A (en) * 2011-08-26 2011-12-21 济南铸造锻压机械研究所有限公司 Material taking/feeding manipulator
CN102431025A (en) * 2011-09-30 2012-05-02 肖航 Asbestos board conveying manipulator

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008007516A1 (en) * 2006-07-11 2008-01-17 Kabushiki Kaisha Yaskawa Denki Multijoint robot
CN201070764Y (en) * 2007-07-20 2008-06-11 深圳市远望工业自动化设备有限公司 Self-feeding mechanical arm
CN201086290Y (en) * 2007-07-30 2008-07-16 杨刚 Pneumatic three free degree mechanical arm
CN101524845A (en) * 2008-03-05 2009-09-09 鸿富锦精密工业(深圳)有限公司 Clamping device
CN101559871A (en) * 2008-04-14 2009-10-21 村田机械株式会社 Plate material stocker facility
CN201329582Y (en) * 2008-07-17 2009-10-21 浙江天煌科技实业有限公司 Manipulator with four degrees of freedom
CN201922444U (en) * 2011-02-14 2011-08-10 山东碧通通信技术有限公司 Flexible four-degree-of-freedom mechanical hand

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008007516A1 (en) * 2006-07-11 2008-01-17 Kabushiki Kaisha Yaskawa Denki Multijoint robot
CN201070764Y (en) * 2007-07-20 2008-06-11 深圳市远望工业自动化设备有限公司 Self-feeding mechanical arm
CN201086290Y (en) * 2007-07-30 2008-07-16 杨刚 Pneumatic three free degree mechanical arm
CN101524845A (en) * 2008-03-05 2009-09-09 鸿富锦精密工业(深圳)有限公司 Clamping device
CN101559871A (en) * 2008-04-14 2009-10-21 村田机械株式会社 Plate material stocker facility
CN201329582Y (en) * 2008-07-17 2009-10-21 浙江天煌科技实业有限公司 Manipulator with four degrees of freedom
CN201922444U (en) * 2011-02-14 2011-08-10 山东碧通通信技术有限公司 Flexible four-degree-of-freedom mechanical hand

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102285146A (en) * 2011-08-26 2011-12-21 济南铸造锻压机械研究所有限公司 Material taking/feeding manipulator
CN102285146B (en) * 2011-08-26 2014-09-03 济南铸造锻压机械研究所有限公司 Material taking/feeding manipulator
CN102431025A (en) * 2011-09-30 2012-05-02 肖航 Asbestos board conveying manipulator

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Denomination of invention: Flexible four-DOF (Degree of Freedom) mechanical arm

Effective date of registration: 20170621

Granted publication date: 20121226

Pledgee: Qilu bank, Limited by Share Ltd, Ji'nan private science and Technology Park Branch

Pledgor: Shandong Ataw Industrial Robot Science & Technology Co., Ltd.

Registration number: 2017990000507

PC01 Cancellation of the registration of the contract for pledge of patent right
PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20180927

Granted publication date: 20121226

Pledgee: Qilu bank, Limited by Share Ltd, Ji'nan private science and Technology Park Branch

Pledgor: Shandong Ataw Industrial Robot Science & Technology Co., Ltd.

Registration number: 2017990000507

Date of cancellation: 20180927

Granted publication date: 20121226

Pledgee: Qilu bank, Limited by Share Ltd, Ji'nan private science and Technology Park Branch

Pledgor: Shandong Ataw Industrial Robot Science & Technology Co., Ltd.

Registration number: 2017990000507

PE01 Entry into force of the registration of the contract for pledge of patent right
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Denomination of invention: Flexible four-DOF (Degree of Freedom) mechanical arm

Effective date of registration: 20200720

Granted publication date: 20121226

Pledgee: Ganzhou Nankang District Chengfa Group Financial Investment Co.,Ltd.

Pledgor: SHANDONG ATAW INDUSTRIAL ROBOT TECHNOLOGY Co.,Ltd.

Registration number: Y2020980004195