CN104002304A - Novel pneumatic manipulator - Google Patents
Novel pneumatic manipulator Download PDFInfo
- Publication number
- CN104002304A CN104002304A CN201410192093.2A CN201410192093A CN104002304A CN 104002304 A CN104002304 A CN 104002304A CN 201410192093 A CN201410192093 A CN 201410192093A CN 104002304 A CN104002304 A CN 104002304A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- hinge pin
- paw
- hinge
- forearm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000078 claw Anatomy 0.000 claims abstract description 35
- 210000000245 forearm Anatomy 0.000 claims description 96
- 238000009434 installation Methods 0.000 claims description 42
- 125000006850 spacer group Chemical group 0.000 claims description 19
- 208000017740 grade III prostatic intraepithelial neoplasia Diseases 0.000 claims description 13
- 239000012636 effector Substances 0.000 abstract description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 3
- 229920000728 polyester Polymers 0.000 abstract 1
- 210000003128 head Anatomy 0.000 description 18
- 210000000887 face Anatomy 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000001351 cycling effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004922 lacquer Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Landscapes
- Prostheses (AREA)
Abstract
The invention relates to a novel pneumatic manipulator and belongs to the technical field of industrial robots. The novel pneumatic manipulator comprises a base, a manipulator arm and a manipulator claw, wherein the base and the manipulator arm are connected together through a hexagon socket screw I; the manipulator arm and the manipulator claw are connected into a whole through a connecting bolt. The manipulator claw has four degrees of freedom, is light and handy in structure and can quickly respond to a control command and enhance working accuracy and production efficiency. The novel pneumatic manipulator is high in carrying capacity and safe and reliable in working process. A polyester rubber mat is embedded in the position where an end effector of the manipulator makes contact with a workpiece, and therefore the surface of the workpiece can be well protected. With regard to the attitude control over the manipulator claw of the end effector, an attitude control servo system is replaced by a series-connection parallel four-bar mechanism, in this way, the working accuracy is enhanced, and the manipulator is more convenient to control.
Description
Technical field
The present invention relates to a kind of novel pneumatic manipulator, belong to Industrial Robot Technology field.
Background technology
Along with scientific and technical development and progress, all start a large amount of increasingly automated production of employing streamline in all trades and professions, therefore, increasing industrial robot is used in flow shop and participates in producing, and manipulator is accounting for vast scale absolutely on streamline becomes to produce, for example current various manipulator, welding manipulator, automotive lacquer manipulators etc. copied mechanically, increase exponentially because the extensive application of these automated mechanical hands makes the production efficiency of enterprise, product processing quality also obtains leaping of matter.The benefit of enterprise is increased rapidly, society is developed fast, people's living standard improves constantly.
Existing a large amount of manipulator, because end effector mechanism will be controlled along with the motion of mechanical arm connecting rod the operation attitude of executing agency, therefore just need to need must add executing agency's attitude control motor servomotor except each joint drive.Control structure complexity, controlled quentity controlled variable quantity increases just must reduce precision, reduces the reliability of system.
The present invention is a kind of new mechanical arm that adopts servo-drive to drive in conjunction with pneumatic means, and its attitude control for end effector adopts a kind of series connection parallelogram lindage, and this mechanism makes arm end effector attitude all the time in horizontal operation attitude.In addition, pneumatic means drives safe and reliable, environmental protection.Overcome traditional servo-drive mode arm structure complexity, control accuracy requires high shortcoming.Manipulator adopts four free degree controls, and structure is lightly beneficial to quick response, has improved execution speed.
Summary of the invention
The invention provides a kind of novel pneumatic manipulator, require the problem high, reliability is low for solving traditional servo manipulator control structure complexity, control accuracy.
Technical scheme of the present invention is: a kind of novel pneumatic manipulator, comprises base 1, manipulator arm 3, the large parts of manipulator paw 5 three; Wherein base 1 links together by soket head cap screw I 2 with manipulator arm 3, and manipulator arm 3 connects as one by connecting bolt 4 with manipulator paw 5.
Described base 1 comprises servomotor 6, driven wheel 7, base body 8, locking nut I 9, gear wheel 10, axle sleeve 11, thrust bearing 12, positioning spacer 13, rotary main shaft 14, angular contact bearing 15, bearing (ball) cover I 16, wherein servomotor 6 is threaded connection and is arranged on base body 8, driven wheel 7 is set in the drive shaft end of servomotor 6, thrust bearing 12 is loaded on base body 8 in vestibule, positioning spacer 13 is loaded on thrust bearing 12 tops, angular contact bearing 15 is loaded on positioning spacer 13 tops, rotary main shaft 14 is loaded on thrust bearing 12 and angular contact bearing 15 endoporus location, bearing (ball) cover I 16 is loaded on angular contact bearing 15 tops further fixing to rotary main shaft 14, axle sleeve 11 is installed under thrust bearing 12, gear wheel 10 is installed and is carried out axial location in rotary main shaft 14 lower shaft end and by axle sleeve 11, locking nut I 9 be installed on rotary main shaft 14 and gear wheel 10 carried out to axial locking and fix.
Described manipulator arm 3 comprises rotating seat lower cover 17, hinge pin I 18, rotating seat upper cover 19, soket head cap screw II 20, large arm drives cylinder 21, the large arm 22 of manipulator, hinge pin II 23, hinge pin III 24, forearm drives cylinder 25, balancing pull rod 26, hinge pin IV 27, hinge pin V 28, pull bar connecting plate 29, forearm rotating shaft 30, bearing (ball) cover II 31, hinge pin VI 32, parallel draw bar 33, manipulator forearm 34, hinge pin VII 35, manipulator connecting rod I 36, paw retainer ring I 37, paw retainer ring II 38, manipulator connecting rod II 39, hinge pin VIII 40, bearing (ball) cover III 41, large arm main shaft 42, hinge pin IX 43, large arm axle holds 44, forearm bearing 45, wherein on rotating seat lower cover 17, hinge pin I 18 is installed, large arm is installed drives cylinder 21 in hinge pin I 18, a pair of large arm axle is installed to be held 44 steps and navigates to large arm main shaft 42, the large arm 22 of installation manipulator is on large arm main shaft 42, large arm main shaft 42Zhou center overlaps with rotating seat lower cover 17 groove center faces, pair of bearings end cap III 41 is installed in large arm main shaft 42 left and right, rotating seat upper cover 19 is installed in rotating seat lower cover 17 tops, by one group of soket head cap screw II 20 connect fastening the two, large arm is installed drives cylinder 21 pistons end earrings in the large arm 22 middle part slotted eyes of manipulator and by hinge pin II 23 hinge mounted, forearm is installed drives cylinder 25 afterbody earrings in the large arm 22 little slotted eyes in middle part of manipulator and by hinge pin III 24 hinge mounted, balancing pull rod 26 is installed in rotating seat upper cover 19 and by hinge pin IX 43 hinge mounted, a pair of pull bar connecting plate 29 and manipulator forearm 34 are installed in large arm 22 end grooves of manipulator and by forearm rotating shaft 30 hinge mounted, a pair of forearm bearing 45 and bearing (ball) cover II 31 be installed simultaneously on forearm rotating shaft 30 two ends Step Shafts and position, balancing pull rod 26 is installed on pull bar connecting plate 29 and by hinge pin V 28 hinge mounted, forearm is installed and is driven cylinder 25 pistons end earrings in manipulator forearm 34 afterbody grooves and by hinge pin IV 27 hinge mounted, install parallel draw bar 33 in pull bar connecting plate 29 and with hinge pin VI 32 hinge mounted, installation manipulator connecting rod I 36 is at parallel draw bar 33 afterbodys and by hinge pin VII 35 hinge mounted, paw retainer ring I 37 and manipulator connecting rod I 36 mounted in pairing mode, installation manipulator connecting rod II 39 is in manipulator forearm 34 ends and by hinge pin VIII 40 hinge mounted, paw retainer ring II 38 and manipulator connecting rod II 39 mounted in pairing mode.
Described manipulator paw 5 comprises that paw drives cylinder 46, paw Connection Block 47, pull bar 48, push-and-pull 49, lock pad 50, locking nut II 51, paw mount pad 52, lactoprene pad 53, hinge pin X 54, hinge pin XI 55, manipulator claw 56, the secondary dactylus 57 of manipulator, manipulator dactylus 58, hinge pin XII 59, hinge pin X III 60, hinge pin X IV 61, hinge 62, installing sleeve 63, lax spring 64, plinth 65, paw to drive cylinder piston rod 66, wherein paw drives cylinder 46 to be arranged on paw Connection Block 47, and paw drives cylinder piston rod 66 to be connected by plinth 65 with pull bar 48, installing sleeve 63 is positioned at plinth 65 outsides, and lax spring 64 is installed in installing sleeve 63 and contacts with pull bar 48 and installing sleeve 63 simultaneously, push-and-pull 49 is loaded on pull bar 48 lower ends and is fastened on pull bar 48 by lock pad 50 and locking nut II 51, three hinges 62 are installed in push-and-pull 49 and by the 61 hinged installations of hinge pin X IV, paw mount pad 52 is installed on paw Connection Block 47, three manipulator dactylus 58 are installed in paw mount pad 52 and by the 60 hinged installations of hinge pin X III, the secondary dactylus 57 of three manipulators is installed in paw mount pad 52 and by the hinged installation of hinge pin XII 59, connect three manipulator claws 56 and by hinge pin X 54 and hinge pin XI 55 respectively with the secondary dactylus 57 of manipulator and the hinged installation of manipulator dactylus 58, lactoprene pad 53 is affixed on the working face of manipulator claw 56.
It is 0 ° ~ 360 ° that described manipulator arm 3, manipulator paw 5 can be realized workpiece rotational angle.
Described pull bar connecting plate 29, parallel draw bar 33, manipulator forearm 34 form parallelogram lindage by hinge pin hinge mounted.
Described manipulator connecting rod I 36, manipulator connecting rod II 39 remain horizontal attitude in the time that manipulator is worked.
Described paw mount pad 52, manipulator claw 56, the secondary dactylus 57 of manipulator and manipulator dactylus 58 form parallelogram lindage by hinge pin hinge mounted, move attitude for controlling manipulator paw 5.
Described manipulator claw 56 working faces remain vertical attitude in the time that manipulator is worked.
Operation principle of the present invention is:
The servomotor 6 of base 1 drives by gear drive, driving device hand arm 3 driving mechanical hand paw 5 and workpiece rotate within the scope of 360 °, drive cylinder 21 by large arm; forearm drives cylinder 25; the large arm 22 of driving mechanical hand, manipulator forearm 34 rotate around hinge pin, and end actuating unit can be moved in level and vertical direction simultaneously.Its specific implementation process is as follows: the servomotor 6 of base 1 is accepted system command, drive gear wheel 10 by driven wheel 7, driven rotary main shaft 14 rotates, and then band is automatically connected in manipulator arm 3, manipulator paw 5 on rotary main shaft 14, and to realize workpiece rotational angle be 0 ° ~ 360 °; When large arm drives cylinder 21 piston rods to stretch out, the large arm 22 of driving device hand also drives associated components to turn clockwise around large arm main shaft 42, and realize end actuating unit and move to the periphery downwards along level and vertical direction, on the contrary, when large arm drives cylinder 21 piston rods to shrink, end actuating unit upwards moves to center along level and vertical direction; In like manner; when forearm drives cylinder 25 piston rods to stretch out; driving device arm 34 also drives associated components to turn clockwise around forearm rotating shaft 30; and realize end actuating unit and move to the periphery downwards along level and vertical direction; on the contrary; when forearm drives cylinder 25 piston rods to shrink, end actuating unit upwards moves to center along level and vertical direction; Paw drives the paw of cylinder 46 to drive cylinder piston rod 66 to drive pull bar 48 downwards, drives hinge 62 promotion robot dactylus 58 to rotate around hinge pin X III 60, thus clamping work pieces, on the contrary unclamp workpiece.Wherein, the effect of balancing pull rod 26 is the synchronized movement that realize the large arm 22 of manipulator and manipulator forearm 34.
---driven by servomotor manipulator paw rotates to specifies above station, and---manipulator paw opens, and------manipulator paw closes up holding workpiece, and---air cylinder driven manipulator arm rises, and---driven by servomotor manipulator paw rotates to target station top, and---air cylinder driven manipulator arm declines, and---manipulator paw opens and puts down workpiece---rising of air cylinder driven manipulator arm---, and driven by servomotor manipulator paw rotates extremely initial station to the decline of air cylinder driven manipulator arm to the manipulator course of work: initial station.
Therefore any one place that, end actuating unit can arrive in its efficient working range completes carrying work.
A kind of programme of work that can be concrete is: the base of manipulator 1 is arranged between two industrial flow-lines and is responsible for certain target workpiece another streamline that is transported to from current streamline.
When arriving, target workpiece starts behind region, the servomotor 6 of base 1 is accepted system command, drive gear wheel 10 by driven wheel 7, driven rotary main shaft 14 rotates, and then manipulator arm 3, manipulator paw 5 that band is automatically connected on rotary main shaft 14 are realized workpiece rotation to the regional aim workpiece top of starting; Large arm drives cylinder 21 piston rods to stretch out, the large arm 22 of driving device hand also drives associated components to turn clockwise around large arm main shaft 42, forearm drives cylinder 25 piston rods to stretch out simultaneously, driving device arm 34 also drives associated components to turn clockwise around forearm rotating shaft 30, and manipulator paw 5(paw opens) drop to the crawl position, regional aim workpiece top of starting; Paw drives the paw of cylinder 46 to drive cylinder piston rod 66 to drive pull bar 48 downwards, drives hinge 62 promotion robot dactylus 58 to rotate around hinge pin X III 60, thus clamping work pieces; Large arm drives cylinder 21 piston rods to shrink, the large arm 22 of driving device hand also drives associated components to be rotated counterclockwise around large arm main shaft 42, forearm drives cylinder 25 piston rods to shrink simultaneously, driving device arm 34 also drives associated components to be rotated counterclockwise around forearm rotating shaft 30, and manipulator paw 5(paw clamps) rise to the regional aim workpiece top home that starts; The servomotor 6 of base 1 is accepted system command, drives gear wheel 10 by driven wheel 7, and driven rotary main shaft 14 rotates, and then manipulator arm 3, manipulator paw 5 that band is automatically connected on rotary main shaft 14 are realized workpiece rotation to top, target area; Large arm drives cylinder 21 piston rods to stretch out, the large arm 22 of driving device hand also drives associated components to turn clockwise around large arm main shaft 42, forearm drives cylinder 25 piston rods to stretch out simultaneously, driving device arm 34 also drives associated components to turn clockwise around forearm rotating shaft 30, and manipulator paw 5 drops to top, target area home; Paw drives the paw of cylinder 46 to drive cylinder piston rod 66 upwards to drive pull bar 48, drives hinge 62 promotion robot dactylus 58 to rotate around hinge pin X III 60, thus the lax workpiece of decontroling; Large arm drives cylinder 21 piston rods to shrink, the large arm 22 of driving device hand also drives associated components to be rotated counterclockwise around large arm main shaft 42, forearm drives cylinder 25 piston rods to shrink simultaneously, driving device arm 34 also drives associated components to be rotated counterclockwise around forearm rotating shaft 30, and manipulator paw 5(paw clamps) rise to target area top home; The servomotor 6 of base 1 is accepted system command, drive gear wheel 10 by driven wheel 7, driven rotary main shaft 14 rotates, and then band is automatically connected in manipulator arm 3, manipulator paw 5 on rotary main shaft 14 and rotates to the regional aim workpiece top home that starts and wait for work order next time; Constantly move target workpiece to another streamline from current streamline according to said process cycling.
The invention has the beneficial effects as follows:
1, manipulator paw has lightly responsing control command rapidly of four frees degree, structure, improves operating accuracy and production efficiency.
2, mechanical arm adopts pneumatic means, and its load capacity is strong, and the course of work is safe and reliable.
3, arm end actuating unit and workpiece contact position are embedded with lactoprene pad, can protect well the surface of workpiece.
4, the attitude control of end effector manipulator paw adopts a kind of series connection parallelogram lindage to substitute attitude control servo-drive system, has improved operating accuracy, and manipulator is convenient to control more.
Brief description of the drawings
Fig. 1 is the total figure axonometric drawing of the present invention;
Fig. 2 is the total figure front view of the present invention;
Fig. 3 is manipulator arm of the present invention and manipulator paw connection diagram;
Fig. 4 is understructure schematic diagram of the present invention;
Fig. 5 is manipulator arm assembling schematic diagram of the present invention;
Fig. 6 is manipulator arm assembling cross section A-A figure of the present invention;
Fig. 7 is manipulator arm assembling section B-B figure of the present invention;
Fig. 8 is manipulator paw assembling schematic diagram of the present invention;
Each label in figure: 1 is base, 2 is soket head cap screw I, 3 is manipulator arm, 4 is connecting bolt, 5 is manipulator paw, 6 is servomotor, 7 is driven wheel, 8 is base body, 9 is locking nut I, 10 is gear wheel, 11 is axle sleeve, 12 is thrust bearing, 13 is positioning spacer, 14 is rotary main shaft, 15 is angular contact bearing, 16 is bearing (ball) cover I, 17 is rotating seat lower cover, 18 is hinge pin I, 19 is rotating seat upper cover, 20 is soket head cap screw II, 21 is that large arm drives cylinder, 22 is the large arm of manipulator, 23 is hinge pin II, 24 is hinge pin III, 25 is forearm driving cylinder, 26 is balancing pull rod, 27 is hinge pin IV, 28 is hinge pin V, 29 is pull bar connecting plate, 30 is forearm rotating shaft, 31 is bearing (ball) cover II, 32 is hinge pin VI, 33 is parallel draw bar, 34 is manipulator forearm, 35 is hinge pin VII, 36 is manipulator connecting rod I, 37 is paw retainer ring I, 38 is paw retainer ring II, 39 is manipulator connecting rod II, 40 is hinge pin VIII, 41 is bearing (ball) cover III, 42 is large arm main shaft, 43 is hinge pin IX, 44 hold for large arm axle, 45 is forearm bearing, 46 is paw driving cylinder, 47 is paw Connection Block, 48 is pull bar, 49 is push-and-pull head, 50 is lock pad, 51 is locking nut II, 52 is paw mount pad, 53 is lactoprene pad, 54 is hinge pin X, 55 is hinge pin XI, 56 is manipulator claw, 57 is the secondary dactylus of manipulator, 58 is manipulator dactylus, 59 is hinge pin XII, 60 is hinge pin X III, 61 is hinge pin X IV, 62 is hinge, 63 is installing sleeve, 64 is lax spring, 65 is plinth, 66 is paw driving cylinder piston rod.
Detailed description of the invention
Embodiment 1: as shown in Fig. 1-8, a kind of novel pneumatic manipulator, comprises base 1, manipulator arm 3, the large parts of manipulator paw 5 three; Wherein base 1 links together by soket head cap screw I 2 with manipulator arm 3, and manipulator arm 3 connects as one by connecting bolt 4 with manipulator paw 5.
Described base 1 comprises servomotor 6, driven wheel 7, base body 8, locking nut I 9, gear wheel 10, axle sleeve 11, thrust bearing 12, positioning spacer 13, rotary main shaft 14, angular contact bearing 15, bearing (ball) cover I 16, wherein servomotor 6 is threaded connection and is arranged on base body 8, driven wheel 7 is set in the drive shaft end of servomotor 6, thrust bearing 12 is loaded on base body 8 in vestibule, positioning spacer 13 is loaded on thrust bearing 12 tops, angular contact bearing 15 is loaded on positioning spacer 13 tops, rotary main shaft 14 is loaded on thrust bearing 12 and angular contact bearing 15 endoporus location, bearing (ball) cover I 16 is loaded on angular contact bearing 15 tops further fixing to rotary main shaft 14, axle sleeve 11 is installed under thrust bearing 12, gear wheel 10 is installed and is carried out axial location in rotary main shaft 14 lower shaft end and by axle sleeve 11, locking nut I 9 be installed on rotary main shaft 14 and gear wheel 10 carried out to axial locking and fix.
Described manipulator arm 3 comprises rotating seat lower cover 17, hinge pin I 18, rotating seat upper cover 19, soket head cap screw II 20, large arm drives cylinder 21, the large arm 22 of manipulator, hinge pin II 23, hinge pin III 24, forearm drives cylinder 25, balancing pull rod 26, hinge pin IV 27, hinge pin V 28, pull bar connecting plate 29, forearm rotating shaft 30, bearing (ball) cover II 31, hinge pin VI 32, parallel draw bar 33, manipulator forearm 34, hinge pin VII 35, manipulator connecting rod I 36, paw retainer ring I 37, paw retainer ring II 38, manipulator connecting rod II 39, hinge pin VIII 40, bearing (ball) cover III 41, large arm main shaft 42, hinge pin IX 43, large arm axle holds 44, forearm bearing 45, wherein on rotating seat lower cover 17, hinge pin I 18 is installed, large arm is installed drives cylinder 21 in hinge pin I 18, a pair of large arm axle is installed to be held 44 steps and navigates to large arm main shaft 42, the large arm 22 of installation manipulator is on large arm main shaft 42, large arm main shaft 42Zhou center overlaps with rotating seat lower cover 17 groove center faces, pair of bearings end cap III 41 is installed in large arm main shaft 42 left and right, rotating seat upper cover 19 is installed in rotating seat lower cover 17 tops, by one group of soket head cap screw II 20 connect fastening the two, large arm is installed drives cylinder 21 pistons end earrings in the large arm 22 middle part slotted eyes of manipulator and by hinge pin II 23 hinge mounted, forearm is installed drives cylinder 25 afterbody earrings in the large arm 22 little slotted eyes in middle part of manipulator and by hinge pin III 24 hinge mounted, balancing pull rod 26 is installed in rotating seat upper cover 19 and by hinge pin IX 43 hinge mounted, a pair of pull bar connecting plate 29 and manipulator forearm 34 are installed in large arm 22 end grooves of manipulator and by forearm rotating shaft 30 hinge mounted, a pair of forearm bearing 45 and bearing (ball) cover II 31 be installed simultaneously on forearm rotating shaft 30 two ends Step Shafts and position, balancing pull rod 26 is installed on pull bar connecting plate 29 and by hinge pin V 28 hinge mounted, forearm is installed and is driven cylinder 25 pistons end earrings in manipulator forearm 34 afterbody grooves and by hinge pin IV 27 hinge mounted, install parallel draw bar 33 in pull bar connecting plate 29 and with hinge pin VI 32 hinge mounted, installation manipulator connecting rod I 36 is at parallel draw bar 33 afterbodys and by hinge pin VII 35 hinge mounted, paw retainer ring I 37 and manipulator connecting rod I 36 mounted in pairing mode, installation manipulator connecting rod II 39 is in manipulator forearm 34 ends and by hinge pin VIII 40 hinge mounted, paw retainer ring II 38 and manipulator connecting rod II 39 mounted in pairing mode.
Described manipulator paw 5 comprises that paw drives cylinder 46, paw Connection Block 47, pull bar 48, push-and-pull 49, lock pad 50, locking nut II 51, paw mount pad 52, lactoprene pad 53, hinge pin X 54, hinge pin XI 55, manipulator claw 56, the secondary dactylus 57 of manipulator, manipulator dactylus 58, hinge pin XII 59, hinge pin X III 60, hinge pin X IV 61, hinge 62, installing sleeve 63, lax spring 64, plinth 65, paw to drive cylinder piston rod 66, wherein paw drives cylinder 46 to be arranged on paw Connection Block 47, and paw drives cylinder piston rod 66 to be connected by plinth 65 with pull bar 48, installing sleeve 63 is positioned at plinth 65 outsides, and lax spring 64 is installed in installing sleeve 63 and contacts with pull bar 48 and installing sleeve 63 simultaneously, push-and-pull 49 is loaded on pull bar 48 lower ends and is fastened on pull bar 48 by lock pad 50 and locking nut II 51, three hinges 62 are installed in push-and-pull 49 and by the 61 hinged installations of hinge pin X IV, paw mount pad 52 is installed on paw Connection Block 47, three manipulator dactylus 58 are installed in paw mount pad 52 and by the 60 hinged installations of hinge pin X III, the secondary dactylus 57 of three manipulators is installed in paw mount pad 52 and by the hinged installation of hinge pin XII 59, connect three manipulator claws 56 and by hinge pin X 54 and hinge pin XI 55 respectively with the secondary dactylus 57 of manipulator and the hinged installation of manipulator dactylus 58, lactoprene pad 53 is affixed on the working face of manipulator claw 56.
It is 0 ° (360 °) that described manipulator arm 3, manipulator paw 5 can be realized workpiece rotational angle.
Described pull bar connecting plate 29, parallel draw bar 33, manipulator forearm 34 form parallelogram lindage by hinge pin hinge mounted.
Described manipulator connecting rod I 36, manipulator connecting rod II 39 remain horizontal attitude in the time that manipulator is worked.
Described paw mount pad 52, manipulator claw 56, the secondary dactylus 57 of manipulator and manipulator dactylus 58 form parallelogram lindage by hinge pin hinge mounted, move attitude for controlling manipulator paw 5.
Described manipulator claw 56 working faces remain vertical attitude in the time that manipulator is worked.
Embodiment 2: as shown in Fig. 1-8, a kind of novel pneumatic manipulator, comprises base 1, manipulator arm 3, the large parts of manipulator paw 5 three; Wherein base 1 links together by soket head cap screw I 2 with manipulator arm 3, and manipulator arm 3 connects as one by connecting bolt 4 with manipulator paw 5.
Described base 1 comprises servomotor 6, driven wheel 7, base body 8, locking nut I 9, gear wheel 10, axle sleeve 11, thrust bearing 12, positioning spacer 13, rotary main shaft 14, angular contact bearing 15, bearing (ball) cover I 16, wherein servomotor 6 is threaded connection and is arranged on base body 8, driven wheel 7 is set in the drive shaft end of servomotor 6, thrust bearing 12 is loaded on base body 8 in vestibule, positioning spacer 13 is loaded on thrust bearing 12 tops, angular contact bearing 15 is loaded on positioning spacer 13 tops, rotary main shaft 14 is loaded on thrust bearing 12 and angular contact bearing 15 endoporus location, bearing (ball) cover I 16 is loaded on angular contact bearing 15 tops further fixing to rotary main shaft 14, axle sleeve 11 is installed under thrust bearing 12, gear wheel 10 is installed and is carried out axial location in rotary main shaft 14 lower shaft end and by axle sleeve 11, locking nut I 9 be installed on rotary main shaft 14 and gear wheel 10 carried out to axial locking and fix.
Described manipulator arm 3 comprises rotating seat lower cover 17, hinge pin I 18, rotating seat upper cover 19, soket head cap screw II 20, large arm drives cylinder 21, the large arm 22 of manipulator, hinge pin II 23, hinge pin III 24, forearm drives cylinder 25, balancing pull rod 26, hinge pin IV 27, hinge pin V 28, pull bar connecting plate 29, forearm rotating shaft 30, bearing (ball) cover II 31, hinge pin VI 32, parallel draw bar 33, manipulator forearm 34, hinge pin VII 35, manipulator connecting rod I 36, paw retainer ring I 37, paw retainer ring II 38, manipulator connecting rod II 39, hinge pin VIII 40, bearing (ball) cover III 41, large arm main shaft 42, hinge pin IX 43, large arm axle holds 44, forearm bearing 45, wherein on rotating seat lower cover 17, hinge pin I 18 is installed, large arm is installed drives cylinder 21 in hinge pin I 18, a pair of large arm axle is installed to be held 44 steps and navigates to large arm main shaft 42, the large arm 22 of installation manipulator is on large arm main shaft 42, large arm main shaft 42Zhou center overlaps with rotating seat lower cover 17 groove center faces, pair of bearings end cap III 41 is installed in large arm main shaft 42 left and right, rotating seat upper cover 19 is installed in rotating seat lower cover 17 tops, by one group of soket head cap screw II 20 connect fastening the two, large arm is installed drives cylinder 21 pistons end earrings in the large arm 22 middle part slotted eyes of manipulator and by hinge pin II 23 hinge mounted, forearm is installed drives cylinder 25 afterbody earrings in the large arm 22 little slotted eyes in middle part of manipulator and by hinge pin III 24 hinge mounted, balancing pull rod 26 is installed in rotating seat upper cover 19 and by hinge pin IX 43 hinge mounted, a pair of pull bar connecting plate 29 and manipulator forearm 34 are installed in large arm 22 end grooves of manipulator and by forearm rotating shaft 30 hinge mounted, a pair of forearm bearing 45 and bearing (ball) cover II 31 be installed simultaneously on forearm rotating shaft 30 two ends Step Shafts and position, balancing pull rod 26 is installed on pull bar connecting plate 29 and by hinge pin V 28 hinge mounted, forearm is installed and is driven cylinder 25 pistons end earrings in manipulator forearm 34 afterbody grooves and by hinge pin IV 27 hinge mounted, install parallel draw bar 33 in pull bar connecting plate 29 and with hinge pin VI 32 hinge mounted, installation manipulator connecting rod I 36 is at parallel draw bar 33 afterbodys and by hinge pin VII 35 hinge mounted, paw retainer ring I 37 and manipulator connecting rod I 36 mounted in pairing mode, installation manipulator connecting rod II 39 is in manipulator forearm 34 ends and by hinge pin VIII 40 hinge mounted, paw retainer ring II 38 and manipulator connecting rod II 39 mounted in pairing mode.
Described manipulator paw 5 comprises that paw drives cylinder 46, paw Connection Block 47, pull bar 48, push-and-pull 49, lock pad 50, locking nut II 51, paw mount pad 52, lactoprene pad 53, hinge pin X 54, hinge pin XI 55, manipulator claw 56, the secondary dactylus 57 of manipulator, manipulator dactylus 58, hinge pin XII 59, hinge pin X III 60, hinge pin X IV 61, hinge 62, installing sleeve 63, lax spring 64, plinth 65, paw to drive cylinder piston rod 66, wherein paw drives cylinder 46 to be arranged on paw Connection Block 47, and paw drives cylinder piston rod 66 to be connected by plinth 65 with pull bar 48, installing sleeve 63 is positioned at plinth 65 outsides, and lax spring 64 is installed in installing sleeve 63 and contacts with pull bar 48 and installing sleeve 63 simultaneously, push-and-pull 49 is loaded on pull bar 48 lower ends and is fastened on pull bar 48 by lock pad 50 and locking nut II 51, three hinges 62 are installed in push-and-pull 49 and by the 61 hinged installations of hinge pin X IV, paw mount pad 52 is installed on paw Connection Block 47, three manipulator dactylus 58 are installed in paw mount pad 52 and by the 60 hinged installations of hinge pin X III, the secondary dactylus 57 of three manipulators is installed in paw mount pad 52 and by the hinged installation of hinge pin XII 59, connect three manipulator claws 56 and by hinge pin X 54 and hinge pin XI 55 respectively with the secondary dactylus 57 of manipulator and the hinged installation of manipulator dactylus 58, lactoprene pad 53 is affixed on the working face of manipulator claw 56.
It is 120 ° that described manipulator arm 3, manipulator paw 5 can be realized workpiece rotational angle.
Described pull bar connecting plate 29, parallel draw bar 33, manipulator forearm 34 form parallelogram lindage by hinge pin hinge mounted.
Described manipulator connecting rod I 36, manipulator connecting rod II 39 remain horizontal attitude in the time that manipulator is worked.
Described paw mount pad 52, manipulator claw 56, the secondary dactylus 57 of manipulator and manipulator dactylus 58 form parallelogram lindage by hinge pin hinge mounted, move attitude for controlling manipulator paw 5.
Described manipulator claw 56 working faces remain vertical attitude in the time that manipulator is worked.
Embodiment 3: as shown in Fig. 1-8, a kind of novel pneumatic manipulator, comprises base 1, manipulator arm 3, the large parts of manipulator paw 5 three; Wherein base 1 links together by soket head cap screw I 2 with manipulator arm 3, and manipulator arm 3 connects as one by connecting bolt 4 with manipulator paw 5.
Described base 1 comprises servomotor 6, driven wheel 7, base body 8, locking nut I 9, gear wheel 10, axle sleeve 11, thrust bearing 12, positioning spacer 13, rotary main shaft 14, angular contact bearing 15, bearing (ball) cover I 16, wherein servomotor 6 is threaded connection and is arranged on base body 8, driven wheel 7 is set in the drive shaft end of servomotor 6, thrust bearing 12 is loaded on base body 8 in vestibule, positioning spacer 13 is loaded on thrust bearing 12 tops, angular contact bearing 15 is loaded on positioning spacer 13 tops, rotary main shaft 14 is loaded on thrust bearing 12 and angular contact bearing 15 endoporus location, bearing (ball) cover I 16 is loaded on angular contact bearing 15 tops further fixing to rotary main shaft 14, axle sleeve 11 is installed under thrust bearing 12, gear wheel 10 is installed and is carried out axial location in rotary main shaft 14 lower shaft end and by axle sleeve 11, locking nut I 9 be installed on rotary main shaft 14 and gear wheel 10 carried out to axial locking and fix.
Described manipulator arm 3 comprises rotating seat lower cover 17, hinge pin I 18, rotating seat upper cover 19, soket head cap screw II 20, large arm drives cylinder 21, the large arm 22 of manipulator, hinge pin II 23, hinge pin III 24, forearm drives cylinder 25, balancing pull rod 26, hinge pin IV 27, hinge pin V 28, pull bar connecting plate 29, forearm rotating shaft 30, bearing (ball) cover II 31, hinge pin VI 32, parallel draw bar 33, manipulator forearm 34, hinge pin VII 35, manipulator connecting rod I 36, paw retainer ring I 37, paw retainer ring II 38, manipulator connecting rod II 39, hinge pin VIII 40, bearing (ball) cover III 41, large arm main shaft 42, hinge pin IX 43, large arm axle holds 44, forearm bearing 45, wherein on rotating seat lower cover 17, hinge pin I 18 is installed, large arm is installed drives cylinder 21 in hinge pin I 18, a pair of large arm axle is installed to be held 44 steps and navigates to large arm main shaft 42, the large arm 22 of installation manipulator is on large arm main shaft 42, large arm main shaft 42Zhou center overlaps with rotating seat lower cover 17 groove center faces, pair of bearings end cap III 41 is installed in large arm main shaft 42 left and right, rotating seat upper cover 19 is installed in rotating seat lower cover 17 tops, by one group of soket head cap screw II 20 connect fastening the two, large arm is installed drives cylinder 21 pistons end earrings in the large arm 22 middle part slotted eyes of manipulator and by hinge pin II 23 hinge mounted, forearm is installed drives cylinder 25 afterbody earrings in the large arm 22 little slotted eyes in middle part of manipulator and by hinge pin III 24 hinge mounted, balancing pull rod 26 is installed in rotating seat upper cover 19 and by hinge pin IX 43 hinge mounted, a pair of pull bar connecting plate 29 and manipulator forearm 34 are installed in large arm 22 end grooves of manipulator and by forearm rotating shaft 30 hinge mounted, a pair of forearm bearing 45 and bearing (ball) cover II 31 be installed simultaneously on forearm rotating shaft 30 two ends Step Shafts and position, balancing pull rod 26 is installed on pull bar connecting plate 29 and by hinge pin V 28 hinge mounted, forearm is installed and is driven cylinder 25 pistons end earrings in manipulator forearm 34 afterbody grooves and by hinge pin IV 27 hinge mounted, install parallel draw bar 33 in pull bar connecting plate 29 and with hinge pin VI 32 hinge mounted, installation manipulator connecting rod I 36 is at parallel draw bar 33 afterbodys and by hinge pin VII 35 hinge mounted, paw retainer ring I 37 and manipulator connecting rod I 36 mounted in pairing mode, installation manipulator connecting rod II 39 is in manipulator forearm 34 ends and by hinge pin VIII 40 hinge mounted, paw retainer ring II 38 and manipulator connecting rod II 39 mounted in pairing mode.
Described manipulator paw 5 comprises that paw drives cylinder 46, paw Connection Block 47, pull bar 48, push-and-pull 49, lock pad 50, locking nut II 51, paw mount pad 52, lactoprene pad 53, hinge pin X 54, hinge pin XI 55, manipulator claw 56, the secondary dactylus 57 of manipulator, manipulator dactylus 58, hinge pin XII 59, hinge pin X III 60, hinge pin X IV 61, hinge 62, installing sleeve 63, lax spring 64, plinth 65, paw to drive cylinder piston rod 66, wherein paw drives cylinder 46 to be arranged on paw Connection Block 47, and paw drives cylinder piston rod 66 to be connected by plinth 65 with pull bar 48, installing sleeve 63 is positioned at plinth 65 outsides, and lax spring 64 is installed in installing sleeve 63 and contacts with pull bar 48 and installing sleeve 63 simultaneously, push-and-pull 49 is loaded on pull bar 48 lower ends and is fastened on pull bar 48 by lock pad 50 and locking nut II 51, three hinges 62 are installed in push-and-pull 49 and by the 61 hinged installations of hinge pin X IV, paw mount pad 52 is installed on paw Connection Block 47, three manipulator dactylus 58 are installed in paw mount pad 52 and by the 60 hinged installations of hinge pin X III, the secondary dactylus 57 of three manipulators is installed in paw mount pad 52 and by the hinged installation of hinge pin XII 59, connect three manipulator claws 56 and by hinge pin X 54 and hinge pin XI 55 respectively with the secondary dactylus 57 of manipulator and the hinged installation of manipulator dactylus 58, lactoprene pad 53 is affixed on the working face of manipulator claw 56.
It is 240 ° that described manipulator arm 3, manipulator paw 5 can be realized workpiece rotational angle.
Described pull bar connecting plate 29, parallel draw bar 33, manipulator forearm 34 form parallelogram lindage by hinge pin hinge mounted.
Described manipulator connecting rod I 36, manipulator connecting rod II 39 remain horizontal attitude in the time that manipulator is worked.
Described paw mount pad 52, manipulator claw 56, the secondary dactylus 57 of manipulator and manipulator dactylus 58 form parallelogram lindage by hinge pin hinge mounted, move attitude for controlling manipulator paw 5.
Described manipulator claw 56 working faces remain vertical attitude in the time that manipulator is worked.
Embodiment 4: as shown in Fig. 1-8, a kind of novel pneumatic manipulator, comprises base 1, manipulator arm 3, the large parts of manipulator paw 5 three; Wherein base 1 links together by soket head cap screw I 2 with manipulator arm 3, and manipulator arm 3 connects as one by connecting bolt 4 with manipulator paw 5.
Described base 1 comprises servomotor 6, driven wheel 7, base body 8, locking nut I 9, gear wheel 10, axle sleeve 11, thrust bearing 12, positioning spacer 13, rotary main shaft 14, angular contact bearing 15, bearing (ball) cover I 16, wherein servomotor 6 is threaded connection and is arranged on base body 8, driven wheel 7 is set in the drive shaft end of servomotor 6, thrust bearing 12 is loaded on base body 8 in vestibule, positioning spacer 13 is loaded on thrust bearing 12 tops, angular contact bearing 15 is loaded on positioning spacer 13 tops, rotary main shaft 14 is loaded on thrust bearing 12 and angular contact bearing 15 endoporus location, bearing (ball) cover I 16 is loaded on angular contact bearing 15 tops further fixing to rotary main shaft 14, axle sleeve 11 is installed under thrust bearing 12, gear wheel 10 is installed and is carried out axial location in rotary main shaft 14 lower shaft end and by axle sleeve 11, locking nut I 9 be installed on rotary main shaft 14 and gear wheel 10 carried out to axial locking and fix.
Described manipulator arm 3 comprises rotating seat lower cover 17, hinge pin I 18, rotating seat upper cover 19, soket head cap screw II 20, large arm drives cylinder 21, the large arm 22 of manipulator, hinge pin II 23, hinge pin III 24, forearm drives cylinder 25, balancing pull rod 26, hinge pin IV 27, hinge pin V 28, pull bar connecting plate 29, forearm rotating shaft 30, bearing (ball) cover II 31, hinge pin VI 32, parallel draw bar 33, manipulator forearm 34, hinge pin VII 35, manipulator connecting rod I 36, paw retainer ring I 37, paw retainer ring II 38, manipulator connecting rod II 39, hinge pin VIII 40, bearing (ball) cover III 41, large arm main shaft 42, hinge pin IX 43, large arm axle holds 44, forearm bearing 45, wherein on rotating seat lower cover 17, hinge pin I 18 is installed, large arm is installed drives cylinder 21 in hinge pin I 18, a pair of large arm axle is installed to be held 44 steps and navigates to large arm main shaft 42, the large arm 22 of installation manipulator is on large arm main shaft 42, large arm main shaft 42Zhou center overlaps with rotating seat lower cover 17 groove center faces, pair of bearings end cap III 41 is installed in large arm main shaft 42 left and right, rotating seat upper cover 19 is installed in rotating seat lower cover 17 tops, by one group of soket head cap screw II 20 connect fastening the two, large arm is installed drives cylinder 21 pistons end earrings in the large arm 22 middle part slotted eyes of manipulator and by hinge pin II 23 hinge mounted, forearm is installed drives cylinder 25 afterbody earrings in the large arm 22 little slotted eyes in middle part of manipulator and by hinge pin III 24 hinge mounted, balancing pull rod 26 is installed in rotating seat upper cover 19 and by hinge pin IX 43 hinge mounted, a pair of pull bar connecting plate 29 and manipulator forearm 34 are installed in large arm 22 end grooves of manipulator and by forearm rotating shaft 30 hinge mounted, a pair of forearm bearing 45 and bearing (ball) cover II 31 be installed simultaneously on forearm rotating shaft 30 two ends Step Shafts and position, balancing pull rod 26 is installed on pull bar connecting plate 29 and by hinge pin V 28 hinge mounted, forearm is installed and is driven cylinder 25 pistons end earrings in manipulator forearm 34 afterbody grooves and by hinge pin IV 27 hinge mounted, install parallel draw bar 33 in pull bar connecting plate 29 and with hinge pin VI 32 hinge mounted, installation manipulator connecting rod I 36 is at parallel draw bar 33 afterbodys and by hinge pin VII 35 hinge mounted, paw retainer ring I 37 and manipulator connecting rod I 36 mounted in pairing mode, installation manipulator connecting rod II 39 is in manipulator forearm 34 ends and by hinge pin VIII 40 hinge mounted, paw retainer ring II 38 and manipulator connecting rod II 39 mounted in pairing mode.
Described manipulator paw 5 comprises that paw drives cylinder 46, paw Connection Block 47, pull bar 48, push-and-pull 49, lock pad 50, locking nut II 51, paw mount pad 52, lactoprene pad 53, hinge pin X 54, hinge pin XI 55, manipulator claw 56, the secondary dactylus 57 of manipulator, manipulator dactylus 58, hinge pin XII 59, hinge pin X III 60, hinge pin X IV 61, hinge 62, installing sleeve 63, lax spring 64, plinth 65, paw to drive cylinder piston rod 66, wherein paw drives cylinder 46 to be arranged on paw Connection Block 47, and paw drives cylinder piston rod 66 to be connected by plinth 65 with pull bar 48, installing sleeve 63 is positioned at plinth 65 outsides, and lax spring 64 is installed in installing sleeve 63 and contacts with pull bar 48 and installing sleeve 63 simultaneously, push-and-pull 49 is loaded on pull bar 48 lower ends and is fastened on pull bar 48 by lock pad 50 and locking nut II 51, three hinges 62 are installed in push-and-pull 49 and by the 61 hinged installations of hinge pin X IV, paw mount pad 52 is installed on paw Connection Block 47, three manipulator dactylus 58 are installed in paw mount pad 52 and by the 60 hinged installations of hinge pin X III, the secondary dactylus 57 of three manipulators is installed in paw mount pad 52 and by the hinged installation of hinge pin XII 59, connect three manipulator claws 56 and by hinge pin X 54 and hinge pin XI 55 respectively with the secondary dactylus 57 of manipulator and the hinged installation of manipulator dactylus 58, lactoprene pad 53 is affixed on the working face of manipulator claw 56.
It is 221 ° that described manipulator arm 3, manipulator paw 5 can be realized workpiece rotational angle.
Described pull bar connecting plate 29, parallel draw bar 33, manipulator forearm 34 form parallelogram lindage by hinge pin hinge mounted.
Described manipulator connecting rod I 36, manipulator connecting rod II 39 remain horizontal attitude in the time that manipulator is worked.
Described paw mount pad 52, manipulator claw 56, the secondary dactylus 57 of manipulator and manipulator dactylus 58 form parallelogram lindage by hinge pin hinge mounted, move attitude for controlling manipulator paw 5.
Described manipulator claw 56 working faces remain vertical attitude in the time that manipulator is worked.
By reference to the accompanying drawings the specific embodiment of the present invention is explained in detail above, but the present invention is not limited to above-mentioned embodiment, in the ken possessing those of ordinary skill in the art, can also under the prerequisite that does not depart from aim of the present invention, make various variations.
Claims (9)
1. a novel pneumatic manipulator, is characterized in that: comprise base (1), manipulator arm (3), the large parts of manipulator paw (5) three; Wherein base (1) links together by soket head cap screw I (2) with manipulator arm (3), and manipulator arm (3) connects as one by connecting bolt (4) with manipulator paw (5).
2. novel pneumatic manipulator according to claim 1, is characterized in that: described base (1) comprises servomotor (6), driven wheel (7), base body (8), locking nut I (9), gear wheel (10), axle sleeve (11), thrust bearing (12), positioning spacer (13), rotary main shaft (14), angular contact bearing (15), bearing (ball) cover I (16), wherein servomotor (6) is threaded connection and is arranged on base body (8), driven wheel (7) is set in the drive shaft end of servomotor (6), thrust bearing (12) is loaded in the upper vestibule of base body (8), positioning spacer (13) is loaded on thrust bearing (12) top, angular contact bearing (15) is loaded on positioning spacer (13) top, rotary main shaft (14) is loaded on thrust bearing (12) and angular contact bearing (15) endoporus location, bearing (ball) cover I (16) is loaded on angular contact bearing (15) top further fixing to rotary main shaft (14), axle sleeve (11) is installed under thrust bearing (12), gear wheel (10) be installed in rotary main shaft (14) lower shaft end and carried out axial location by axle sleeve (11), locking nut I (9) is installed to be gone up and gear wheel (10) is carried out to axial locking and fix in rotary main shaft (14).
3. novel pneumatic manipulator according to claim 1, it is characterized in that: described manipulator arm (3) comprises rotating seat lower cover (17), hinge pin I (18), rotating seat upper cover (19), soket head cap screw II (20), large arm drives cylinder (21), the large arm of manipulator (22), hinge pin II (23), hinge pin III (24), forearm drives cylinder (25), balancing pull rod (26), hinge pin IV (27), hinge pin V (28), pull bar connecting plate (29), forearm rotating shaft (30), bearing (ball) cover II (31), hinge pin VI (32), parallel draw bar (33), manipulator forearm (34), hinge pin VII (35), manipulator connecting rod I (36), paw retainer ring I (37), paw retainer ring II (38), manipulator connecting rod II (39), hinge pin VIII (40), bearing (ball) cover III (41), large arm main shaft (42), hinge pin IX (43), large arm axle holds (44), forearm bearing (45), the wherein upper hinge pin I (18) of installing of rotating seat lower cover (17), large arm is installed drives cylinder (21) in hinge pin I (18), a pair of large arm axle is installed to be held (44) step and navigates to large arm main shaft (42), the large arm of installation manipulator (22) is on large arm main shaft (42), large arm main shaft (42) Zhou center overlaps with rotating seat lower cover (17) groove center face, pair of bearings end cap III (41) is installed in large arm main shaft (42) left and right, rotating seat upper cover (19) is installed in rotating seat lower cover (17) top, by one group of soket head cap screw II (20) connect fastening the two, large arm is installed drives cylinder (21) pistons end earrings in the large arm of manipulator (22) middle part slotted eye and by hinge pin II (23) hinge mounted, forearm is installed drives cylinder (25) afterbody earrings in the large arm of manipulator (22) the little slotted eye in middle part and by hinge pin III (24) hinge mounted, balancing pull rod (26) is installed in rotating seat upper cover (19) and by hinge pin IX (43) hinge mounted, a pair of pull bar connecting plate (29) and manipulator forearm (34) are installed in the large arm of manipulator (22) end grooves and by forearm rotating shaft (30) hinge mounted, a pair of forearm bearing (45) and bearing (ball) cover II (31) be installed simultaneously on the Step Shaft of forearm rotating shaft (30) two ends and position, balancing pull rod (26) is installed to be gone up and passes through hinge pin V (28) hinge mounted in pull bar connecting plate (29), forearm is installed and is driven cylinder (25) pistons end earrings in manipulator forearm (34) afterbody groove and by hinge pin IV (27) hinge mounted, install parallel draw bar (33) in pull bar connecting plate (29) and with hinge pin VI (32) hinge mounted, installation manipulator connecting rod I (36) is at parallel draw bar (33) afterbody and by hinge pin VII (35) hinge mounted, paw retainer ring I (37) and manipulator connecting rod I (36) mounted in pairing mode, installation manipulator connecting rod II (39) is in manipulator forearm (34) end and by hinge pin VIII (40) hinge mounted, paw retainer ring II (38) and manipulator connecting rod II (39) mounted in pairing mode.
4. novel pneumatic manipulator according to claim 1, it is characterized in that: described manipulator paw (5) comprises that paw drives cylinder (46), paw Connection Block (47), pull bar (48), push-and-pull head (49), lock pad (50), locking nut II (51), paw mount pad (52), lactoprene pad (53), hinge pin X (54), hinge pin XI (55), manipulator claw (56), the secondary dactylus of manipulator (57), manipulator dactylus (58), hinge pin XII (59), hinge pin X III (60), hinge pin X IV (61), hinge (62), installing sleeve (63), lax spring (64), plinth (65), paw drives cylinder piston rod (66), wherein paw drives cylinder (46) to be arranged on paw Connection Block (47) above, and paw drives cylinder piston rod (66) to be connected by plinth (65) with pull bar (48), installing sleeve (63) is positioned at plinth (65) outside, and lax spring (64) is installed in installing sleeve (63) and contacts with pull bar (48) and installing sleeve (63) simultaneously, push-and-pull head (49) is loaded on pull bar (48) lower end and is fastened on pull bar (48) by lock pad (50) and locking nut II (51), three hinges (62) are installed to be gone up and passes through the hinged installation of hinge pin X IV (61) in push-and-pull head (49), paw mount pad (52) is installed on paw Connection Block (47), three manipulator dactylus (58) are installed in paw mount pad (52) and by the hinged installation of hinge pin X III (60), the secondary dactylus of three manipulators (57) are installed in paw mount pad (52) and by the hinged installation of hinge pin XII (59), connect three manipulator claws (56) and by hinge pin X (54) and hinge pin XI (55) respectively with manipulator secondary dactylus (57) and the hinged installation of manipulator dactylus (58), lactoprene pad (53) is affixed on the working face of manipulator claw (56).
5. novel pneumatic manipulator according to claim 1, is characterized in that: it is 0 ° ~ 360 ° that described manipulator arm (3), manipulator paw (5) can be realized workpiece rotational angle.
6. novel pneumatic manipulator according to claim 3, is characterized in that: described pull bar connecting plate (29), parallel draw bar (33), manipulator forearm (34) form parallelogram lindage by hinge pin hinge mounted.
7. novel pneumatic manipulator according to claim 3, is characterized in that: described manipulator connecting rod I (36), manipulator connecting rod II (39) remain horizontal attitude in the time that manipulator is worked.
8. novel pneumatic manipulator according to claim 4, it is characterized in that: described paw mount pad (52), manipulator claw (56), the secondary dactylus of manipulator (57) and manipulator dactylus (58) form parallelogram lindage by hinge pin hinge mounted, for controlling manipulator paw (5) operation attitude.
9. novel pneumatic manipulator according to claim 4, is characterized in that: described manipulator claw (56) working face remains vertical attitude in the time that manipulator is worked.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410192093.2A CN104002304B (en) | 2014-05-08 | 2014-05-08 | A kind of Novel pneumatic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410192093.2A CN104002304B (en) | 2014-05-08 | 2014-05-08 | A kind of Novel pneumatic manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104002304A true CN104002304A (en) | 2014-08-27 |
| CN104002304B CN104002304B (en) | 2015-11-25 |
Family
ID=51363354
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410192093.2A Active CN104002304B (en) | 2014-05-08 | 2014-05-08 | A kind of Novel pneumatic manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104002304B (en) |
Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272391A (en) * | 2016-08-31 | 2017-01-04 | 江西鑫台铭智能科技有限公司 | The outer layer of a kind of New Type of Robot Arm and this mechanical arm covers the processing technology of material |
| CN106563760A (en) * | 2016-11-15 | 2017-04-19 | 合肥星服信息科技有限责任公司 | Industrial forging mechanical clamp hand |
| CN106671071A (en) * | 2016-08-30 | 2017-05-17 | 洛阳今科自动化工程有限公司 | Brick moving robot |
| CN106762930A (en) * | 2017-03-24 | 2017-05-31 | 佛山楚博科技有限公司 | A kind of three-jaw cylinder |
| CN107322608A (en) * | 2017-07-27 | 2017-11-07 | 佛山市南海普拉迪机器人有限公司 | A kind of high accuracy and the spray robot for facilitating cabling |
| CN107336249A (en) * | 2017-09-04 | 2017-11-10 | 重庆市臻憬科技开发有限公司 | A kind of intelligent restaurant with three claw robot |
| CN107355656A (en) * | 2017-07-11 | 2017-11-17 | 罗厚镇 | A kind of mechanical arm system and its driving method |
| CN107363845A (en) * | 2017-09-04 | 2017-11-21 | 重庆市臻憬科技开发有限公司 | Clip type manipulator for intelligent restaurant |
| CN107647800A (en) * | 2017-11-09 | 2018-02-02 | 重庆市臻憬科技开发有限公司 | A kind of intelligent kitchen agitator |
| CN107825453A (en) * | 2017-11-29 | 2018-03-23 | 芜湖市鸿坤汽车零部件有限公司 | A kind of pneumatic stiff arms power-assisted mechanical gripper of six shaft types |
| CN107874626A (en) * | 2017-11-09 | 2018-04-06 | 重庆市臻憬科技开发有限公司 | A kind of intelligent kitchen |
| CN108032287A (en) * | 2017-12-30 | 2018-05-15 | 楼 | A kind of energy-saving mechanical hand conveniently removed and installed |
| CN108031827A (en) * | 2018-01-08 | 2018-05-15 | 安徽理工大学 | Less important work robot is used in casting |
| CN108032322A (en) * | 2018-01-30 | 2018-05-15 | 宁夏巨能机器人股份有限公司 | A kind of robot hand more changing device |
| CN108621140A (en) * | 2018-05-04 | 2018-10-09 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of regulating mechanism for positioning mechanical arm |
| CN108639740A (en) * | 2018-05-18 | 2018-10-12 | 广西联壮科技股份有限公司 | Universal clamping robot device |
| CN109434889A (en) * | 2018-09-29 | 2019-03-08 | 湖南贝尔动漫科技有限公司 | The miscellaneous line of down toy trims bionic mechanical arm |
| CN109526389A (en) * | 2018-12-06 | 2019-03-29 | 内蒙古科技大学 | Integrated machine is sorted in novel picking |
| CN109571433A (en) * | 2018-11-30 | 2019-04-05 | 北京海风智能科技有限责任公司 | A kind of mechanical arm of 4DOF movement |
| CN109678069A (en) * | 2019-02-19 | 2019-04-26 | 马鞍山大簇激光科技有限公司 | A kind of multifunctional mobile work arm |
| CN109822556A (en) * | 2019-04-17 | 2019-05-31 | 桂林电子科技大学信息科技学院 | Industry mechanical arm based on PLC control |
| CN110394787A (en) * | 2019-03-06 | 2019-11-01 | 沈阳工业大学 | A kind of bearing ring billet conveying robot |
| CN110480671A (en) * | 2019-08-30 | 2019-11-22 | 桂林航天工业学院 | A kind of rotary machine hand for machining |
| CN110589478A (en) * | 2019-10-16 | 2019-12-20 | 深圳市星通明塑胶电子有限公司 | Rubber disc feeding machine and feeding method thereof |
| CN111573262A (en) * | 2020-06-03 | 2020-08-25 | 何志彦 | Stacking device with staggered stacking structure for H steel production |
| CN113441934A (en) * | 2021-07-15 | 2021-09-28 | 嘉善逸桐科技股份有限公司 | Micro-control clamping device for assembly of communication industry components |
| CN114474031A (en) * | 2020-11-13 | 2022-05-13 | 沈阳新松机器人自动化股份有限公司 | Feeding and discharging mechanical arm |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4531885A (en) * | 1981-10-05 | 1985-07-30 | Graco Robotics, Inc. | Device for robot manipulator |
| JPH10138176A (en) * | 1996-11-11 | 1998-05-26 | Aisin Seiki Co Ltd | Robot |
| CN1919545A (en) * | 2006-09-08 | 2007-02-28 | 清华大学 | Robot for carrying and piling |
| CN201922443U (en) * | 2010-12-24 | 2011-08-10 | 江苏大学 | Double-four-bar serial actuating mechanism of mobile robot |
| CN202054453U (en) * | 2011-03-14 | 2011-11-30 | 南京肯信精密机器制造有限公司 | Mechanical hand material catching device assembly of palletizing robot |
| TW201213073A (en) * | 2010-09-29 | 2012-04-01 | Hon Hai Prec Ind Co Ltd | Robot |
| CN102602708A (en) * | 2012-03-26 | 2012-07-25 | 广东工业大学 | Robot palletizer for carrying |
| CN103192378A (en) * | 2013-02-06 | 2013-07-10 | 李月芹 | Stacking robot |
| CN203473969U (en) * | 2013-07-26 | 2014-03-12 | 西安越达环保科技有限公司 | Block material stacking robot |
-
2014
- 2014-05-08 CN CN201410192093.2A patent/CN104002304B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4531885A (en) * | 1981-10-05 | 1985-07-30 | Graco Robotics, Inc. | Device for robot manipulator |
| JPH10138176A (en) * | 1996-11-11 | 1998-05-26 | Aisin Seiki Co Ltd | Robot |
| CN1919545A (en) * | 2006-09-08 | 2007-02-28 | 清华大学 | Robot for carrying and piling |
| TW201213073A (en) * | 2010-09-29 | 2012-04-01 | Hon Hai Prec Ind Co Ltd | Robot |
| CN201922443U (en) * | 2010-12-24 | 2011-08-10 | 江苏大学 | Double-four-bar serial actuating mechanism of mobile robot |
| CN202054453U (en) * | 2011-03-14 | 2011-11-30 | 南京肯信精密机器制造有限公司 | Mechanical hand material catching device assembly of palletizing robot |
| CN102602708A (en) * | 2012-03-26 | 2012-07-25 | 广东工业大学 | Robot palletizer for carrying |
| CN103192378A (en) * | 2013-02-06 | 2013-07-10 | 李月芹 | Stacking robot |
| CN203473969U (en) * | 2013-07-26 | 2014-03-12 | 西安越达环保科技有限公司 | Block material stacking robot |
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671071A (en) * | 2016-08-30 | 2017-05-17 | 洛阳今科自动化工程有限公司 | Brick moving robot |
| CN106671071B (en) * | 2016-08-30 | 2023-11-24 | 洛阳戴梦特智能装备制造有限公司 | Brick carrying robot |
| CN106272391A (en) * | 2016-08-31 | 2017-01-04 | 江西鑫台铭智能科技有限公司 | The outer layer of a kind of New Type of Robot Arm and this mechanical arm covers the processing technology of material |
| CN106563760A (en) * | 2016-11-15 | 2017-04-19 | 合肥星服信息科技有限责任公司 | Industrial forging mechanical clamp hand |
| CN106762930A (en) * | 2017-03-24 | 2017-05-31 | 佛山楚博科技有限公司 | A kind of three-jaw cylinder |
| CN107355656A (en) * | 2017-07-11 | 2017-11-17 | 罗厚镇 | A kind of mechanical arm system and its driving method |
| CN107322608A (en) * | 2017-07-27 | 2017-11-07 | 佛山市南海普拉迪机器人有限公司 | A kind of high accuracy and the spray robot for facilitating cabling |
| CN107336249A (en) * | 2017-09-04 | 2017-11-10 | 重庆市臻憬科技开发有限公司 | A kind of intelligent restaurant with three claw robot |
| CN107363845A (en) * | 2017-09-04 | 2017-11-21 | 重庆市臻憬科技开发有限公司 | Clip type manipulator for intelligent restaurant |
| CN107647800A (en) * | 2017-11-09 | 2018-02-02 | 重庆市臻憬科技开发有限公司 | A kind of intelligent kitchen agitator |
| CN107874626A (en) * | 2017-11-09 | 2018-04-06 | 重庆市臻憬科技开发有限公司 | A kind of intelligent kitchen |
| CN107825453A (en) * | 2017-11-29 | 2018-03-23 | 芜湖市鸿坤汽车零部件有限公司 | A kind of pneumatic stiff arms power-assisted mechanical gripper of six shaft types |
| CN108032287A (en) * | 2017-12-30 | 2018-05-15 | 楼 | A kind of energy-saving mechanical hand conveniently removed and installed |
| CN108031827A (en) * | 2018-01-08 | 2018-05-15 | 安徽理工大学 | Less important work robot is used in casting |
| CN108031827B (en) * | 2018-01-08 | 2024-03-22 | 安徽理工大学 | Auxiliary operation robot for casting |
| CN108032322A (en) * | 2018-01-30 | 2018-05-15 | 宁夏巨能机器人股份有限公司 | A kind of robot hand more changing device |
| CN108032322B (en) * | 2018-01-30 | 2024-03-12 | 宁夏巨能机器人股份有限公司 | Robot paw replacing device |
| CN108621140A (en) * | 2018-05-04 | 2018-10-09 | 旌德县瀚海星云智能化技术研发有限公司 | A kind of regulating mechanism for positioning mechanical arm |
| CN108639740A (en) * | 2018-05-18 | 2018-10-12 | 广西联壮科技股份有限公司 | Universal clamping robot device |
| CN109434889A (en) * | 2018-09-29 | 2019-03-08 | 湖南贝尔动漫科技有限公司 | The miscellaneous line of down toy trims bionic mechanical arm |
| CN109571433A (en) * | 2018-11-30 | 2019-04-05 | 北京海风智能科技有限责任公司 | A kind of mechanical arm of 4DOF movement |
| CN109526389A (en) * | 2018-12-06 | 2019-03-29 | 内蒙古科技大学 | Integrated machine is sorted in novel picking |
| CN109678069A (en) * | 2019-02-19 | 2019-04-26 | 马鞍山大簇激光科技有限公司 | A kind of multifunctional mobile work arm |
| CN110394787A (en) * | 2019-03-06 | 2019-11-01 | 沈阳工业大学 | A kind of bearing ring billet conveying robot |
| CN109822556A (en) * | 2019-04-17 | 2019-05-31 | 桂林电子科技大学信息科技学院 | Industry mechanical arm based on PLC control |
| CN110480671A (en) * | 2019-08-30 | 2019-11-22 | 桂林航天工业学院 | A kind of rotary machine hand for machining |
| CN110480671B (en) * | 2019-08-30 | 2020-12-01 | 桂林航天工业学院 | Rotary mechanical arm for machining |
| CN110589478A (en) * | 2019-10-16 | 2019-12-20 | 深圳市星通明塑胶电子有限公司 | Rubber disc feeding machine and feeding method thereof |
| CN111573262A (en) * | 2020-06-03 | 2020-08-25 | 何志彦 | Stacking device with staggered stacking structure for H steel production |
| CN114474031A (en) * | 2020-11-13 | 2022-05-13 | 沈阳新松机器人自动化股份有限公司 | Feeding and discharging mechanical arm |
| CN113441934A (en) * | 2021-07-15 | 2021-09-28 | 嘉善逸桐科技股份有限公司 | Micro-control clamping device for assembly of communication industry components |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104002304B (en) | 2015-11-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104002304B (en) | A kind of Novel pneumatic manipulator | |
| CN203919049U (en) | A kind of novel pneumatic manipulator | |
| CN2917979Y (en) | Industrial mechanical arm | |
| CN202200294U (en) | Self-adaptive flexible mechanical hand with multiple degrees of freedom | |
| CN203697003U (en) | Intelligent robot with high-speed feeding and blanking functions | |
| CN103495971B (en) | A kind of five degree of freedom Combined robot platform | |
| CN111890109B (en) | Intelligent feeding equipment and method for irregular bar based on machine vision | |
| CN104308859B (en) | Based on the heavy-loaded precision redundancy three arm manipulator of driving | |
| CN205111851U (en) | Paper cup snatchs end effector of robot | |
| CN105666519A (en) | Manipulator and realization method of snake-shaped machine arm system device | |
| CN104708619B (en) | A kind of dynamic support Three Degree Of Freedom transfer robot | |
| CN104772752A (en) | Mechanical arm | |
| CN103934825A (en) | Horizontal joint robot | |
| CN110625603A (en) | Rotary industrial robot equipment | |
| CN110978019B (en) | Manipulator structure capable of realizing double-mode switching of adsorption and clamping and robot | |
| CN102490119B (en) | Auxiliary up-and-down feeding mechanism of surface-grinding machine | |
| CN105058394A (en) | Grabbing and arranging device for deburring | |
| CN203635427U (en) | Six-axis linkage dispensing machine | |
| CN103921268B (en) | For transporation by plane containing prrpr side chain parallel institution punching system | |
| CN105127981A (en) | Three-freedom-degree transfer robot with movable support | |
| CN108557493A (en) | A kind of metamorphic mechanisms formula robot palletizer | |
| CN205734892U (en) | A kind of logistic sorting machine device robot mechanism based on series-parallel connection | |
| CN219881635U (en) | Welding platform for welding robot | |
| CN205466236U (en) | Manipulator | |
| CN109304723B (en) | Operation method of flexible clamping mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |