CN104227696A - Constant pressure control assisted manipulator - Google Patents
Constant pressure control assisted manipulator Download PDFInfo
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- CN104227696A CN104227696A CN201310270158.6A CN201310270158A CN104227696A CN 104227696 A CN104227696 A CN 104227696A CN 201310270158 A CN201310270158 A CN 201310270158A CN 104227696 A CN104227696 A CN 104227696A
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Abstract
The invention belongs to a manipulator used in the machinery and carrying industry and relates to a constant pressure control assisted manipulator, which is designed by combination of computerized control, pressure control and theory of machines and mechanisms. A pressure control valve is controlled via a computer technological program, the manipulator is allowed to quick hold, transmit and handle a workpiece, different command parameters are set in a computer, a certain action is executed just after a corresponding command parameter is input, the certain part of the manipulator is allowed to operate, and the manipulator is commanded to finish a task. A cylinder can be kept outputting balanced pressure, pressure impact and bounce are decreased, and the performance of a machine and safety and reliability thereof are improved. A travelling device allows mobile operations. A unique claw design allows the manipulator to adaptively hold the workpieces different in shape material and weight. An electromagnetic sucker can be mounted at the position, where a claw is mounted, of a clamping cylinder, and workpieces are picked via magnetic attraction of an electromagnet. A multi-DOF (degree of freedom) design allows better flexible and universality for the manipulator, and work efficiency is improved.
Description
Technical field
The present invention relates to machinery and a kind of manipulator, particularly a kind of Isobarically Control boosting manipulator of carrying industry.
Background technology
Since reform and opening-up, national economy increases fast, and " scientific and technical innovation, autonomous innovation " has become the main flow of domestic industry development, and China's industry is just progressively to the future development of intensive style, energy-saving and emission-reduction, low-carbon (LC).In the industrial production, people often will work under high temperature, corrosion and toxic gas etc. have the environment of harmful substances, add the labour intensity of workman, injure the life security of workman.Because manipulator provides very good assist transportation and assembling tool for material rolling off the production line and producing article assembling, the three dimensions move loading actions such as weight crawl, carrying, upset, docking, vernier angle can be completed, be thus widely used in industrial production.Manipulator can Some substitute people heavy labor with realize produce mechanization and automation, under the easy manipulation of operator, many complex work of automatic robot can be completed, and production and use cost greatly reduce, simultaneously the scope of application is also extensive, flexibility and mobility larger.At present, manipulator is primarily of hand and motion composition.Hand is used to the parts grasping workpiece, according to being grasped the difference of the shape of object, size, weight, material, is provided with the hand of various structures form, and the hand of general special manipulator only has a joint joint, is difficult to the polytype object of clamping.Motion can make hand complete various rotation, movement or compound motion, changes and is grasped the position of workpiece and posture, reach the requirement of regulation.The lifting of motion, flexible, the mode that rotates, be called the free degree of manipulator.The free degree is more, and its structure is also more complicated, and manufacture difficulty is larger.General motion only has 2-3 the free degree, is difficult to reach desirable grabbing by effect.Meanwhile, manipulator is when operation, and common lifting appliance operationally, exists certain impulsive force and bounce, larger to workpiece infringement.The technical staff of R&D institution and enterprise is constantly exploring, is studying, and ites is desirable to develop a kind of manipulator of easy to operate, superior performance, although make some progress, still there is the technical barrier not yet overcome in practice.
Summary of the invention
The object of the invention is to overcome above deficiency, a kind of Isobarically Control boosting manipulator is provided, adopt electrical control and air pressure control principle is designed in conjunction forms, manipulator is made to realize grabbing folder, transmission fast and loading and unloading of workpiece, and the air pressure that cylinder can be kept to export reaches balance, decrease air pressure impulsive force and bounce-back, improve the performance of machine, ensure the safety of operator, simple to operate, operate laborsaving, highly effective and safe.
The technical solution adopted for the present invention to solve the technical problems is: containing interior plate, large side plate, telescopic cylinder, pull bar, universal wheel, travelling car, column, bearing block, tracheae, swing principal arm, swing auxiliary, rotary arm shaft bearing, rotate principal arm, plumbing arm bearing block, handrail, manipulator main shaft, computer controling box, rotary cylinder, clamping cylinder, jaw, workpiece, travelling car is an OBL chassis, the corner on chassis is respectively provided with a universal wheel, column is provided with at the center on chassis, left side is provided with pull bar, column top is provided with bearing block, rotatable 360 °, the top of column is connected with the lower end on the right side of large side plate, pneumatic control valve is provided with in large side plate, pneumatic control valve is connected with telescopic cylinder, telescopic cylinder is arranged on the lower end on the left of large side plate, the guide rod of telescopic cylinder is connected with the guide pin bushing on interior plate lower end, interior plate is provided with in large side plate, rectangular mounting hole slip axial trough is provided with on the left of large side plate, two sliding axles are provided with in axial trough, divide one on the other, two sliding axles are connected with interior plate, be provided with one at interior plate two sliding axle partial centers and swing principal arm axle, on large side plate, two axles are established on right side, upper axle is connected with the top swinging auxiliary, lower shaft is connected with swing principal arm, swing principal arm to be all connected with rotary arm shaft bearing with the other end swinging auxiliary, rotary arm shaft bearing is connected with the main shaft rotating principal arm top, rotatable 360 °, rotate principal arm to be connected with plumbing arm bearing block, plumbing arm bearing block can plumbing arm rotating 360 degrees, plumbing arm bearing block is connected with manipulator main shaft, manipulator main shaft is provided with handrail, handrail lower end inside is provided with personal computer control box, press button is provided with above computer controling box, the integrated circuit of computer controling box and pneumatic control valve, rotary cylinder, clamping cylinder circuit is connected, the manipulator main shaft other end is provided with rotary cylinder, rotary cylinder is connected with pneumatic control valve by tracheae, and tracheal strips is provided with two pipelines, an air inlet pipe, a muffler, the main shaft of rotary cylinder is connected with clamping cylinder by the axis hole on manipulator main shaft top, and clamping cylinder is connected with jaw, and jaw can each half-twist in left and right, jaw is two joint joints, accompanies workpiece in jaw.
The present invention solves the know-why that its technical problem adopts: this manipulator adopts electrical control and air pressure control principle is designed in conjunction forms, manipulator is made to realize grabbing folder, transmission fast and loading and unloading of workpiece, and the air pressure that cylinder can be kept to export reaches balance, decrease air pressure impulsive force and bounce-back, improve the performance of machine, ensure the safety of operator, simple to operate, operate laborsaving, highly effective and safe.Travelling car is provided with pull bar, and below is provided with universal wheel, and pull bar pulls travelling car, and the position that can realize this equipment is moved.Travelling car is provided with column, column top is provided with bearing block, be used for realizing the rotary motion of manipulator, workpiece around within the scope of 360 ° can be operated, the top of column is connected with the lower end on the right side of large side plate, pneumatic control valve is provided with in large side plate, adopt the pneumatic control valve that computerizeds control, telescopic cylinder, rotary cylinder, clamping cylinder, realize the elevating movement of manipulator, operation is realized to the object of differing heights, rotate, grab folder, transmit, the program of handling, pneumatic control valve is connected with telescopic cylinder, telescopic cylinder is arranged on the lower end on the left of large side plate, interior plate is provided with in large side plate, two that arrange on the left of interior plate slide up and down axle and can move up and down in rectangular mounting hole slip axial trough, when manipulator declines, interior plate just rises, the guide rod of telescopic cylinder stretches out the guide pin bushing withstood on interior plate, swing principal arm is synchronously declined with swing auxiliary, when manipulator rises, interior plate just declines, swing principal arm is made synchronously to increase with swing auxiliary.Telescopic cylinder is provided with an air inlet pipeline, a return line, and computer controls pneumatic control valve, makes the guide rod of telescopic cylinder do stretching motion.Pneumatic control valve has constant voltage and exports compensation, maintains inner pressure of air cylinder constant, makes manipulator have suspension, and the air pressure keeping cylinder to export reaches balance, decreases air pressure impulsive force and bounce-back.Rotary arm shaft bearing is connected with the main shaft rotating principal arm, take main shaft as the center of circle, driven rotary principal arm does 360 ° of motions, the bottom rotating principal arm is provided with plumbing arm bearing block, and plumbing arm bearing block is connected with manipulator main shaft, and manipulator main shaft can be made to realize plumbing arm 360 ° rotation, manipulator main shaft is provided with handrail, handrail lower end inside is provided with personal computer control box, and operative employee's HPC control box carrys out the operation program of manipulator, ensures operating efficiency.The integrated circuit of computer controling box is connected with pneumatic control valve, telescopic cylinder, rotary cylinder, clamping cylinder circuit.The manipulator main shaft other end is provided with rotary cylinder, and computer controling box controls rotary cylinder, realizes the rotation of jaw within the scope of 180 °.The main shaft of rotary cylinder is connected with clamping cylinder by the axis hole on manipulator main shaft top, and clamping cylinder is connected with jaw, and clamping cylinder is controlled by computer controling box, is used for controlling unclamping and clamping of jaw.Manipulator jaw adopts two joint joint designs, ensures that manipulator can grab the workpiece by difformity, material, weight.And according to Different Weight, difform part, the manipulator jaw of different size can be housed, the position of clamping cylinder device jaw, simultaneously can device electromagnet sucker, rely on the suction of electromagnet to draw workpiece.
Beneficial effect of the present invention is: adopt electrical control and air pressure control principle is designed in conjunction forms, manipulator is made to realize grabbing folder, transmission fast and loading and unloading of workpiece, and the air pressure that cylinder can be kept to export reaches balance, decrease air pressure impulsive force and bounce-back, improve the performance of machine, ensure the safety of operator, and be provided with mobile device, can mobile operating be realized.Unique jaw design, adapts to the demand of grabbing by difformity, material, heavy workpiece, the position of clamping cylinder device jaw, simultaneously can device electromagnet sucker, relies on the suction of electromagnet to draw workpiece.The design of the multiple free degree, make that the flexibility of manipulator is large, versatility is wide, simple to operate, operate laborsaving, highly effective and safe.
Accompanying drawing explanation
Here further describes the present invention in conjunction with the accompanying drawings and embodiments:
It is Isobarically Control boosting manipulator structural representation in figure.
In the drawings, 1. interior plate, 2. large side plate, 3. telescopic cylinder, 4. pull bar, 5. universal wheel, 6. travelling car, 7. column, 8. bearing block, 9. tracheae, 10. swing principal arm, 11. swing auxiliarys, 12. rotary arm shaft bearings, 13. rotate principal arm, 14. plumbing arm bearing blocks, 15. handrails, 16. manipulator main shafts, 17. computer controling box, 18. rotary cylinders, 19. clamping cylinders, 20. jaws, 21 workpiece.
Detailed description of the invention
In the drawings, travelling car 6 is OBL chassis, the corner on chassis is respectively provided with a universal wheel 5, column 7 is provided with at the center on chassis, left side is provided with pull bar 4, column 7 top is provided with bearing block 8, rotatable 360 °, the top of column 7 is connected with the lower end on the right side of large side plate 2, pneumatic control valve is provided with in large side plate 2, pneumatic control valve is connected with telescopic cylinder 3, telescopic cylinder 3 is arranged on the lower end on the left of large side plate 2, the guide rod of telescopic cylinder 3 is connected with the guide pin bushing on interior plate 1 lower end, interior plate 1 is provided with in large side plate 2, rectangular mounting hole slip axial trough is provided with on the left of large side plate 2, two sliding axles are provided with in axial trough, divide one on the other, two sliding axles are connected with interior plate 1, be provided with one at interior plate 1 two sliding axle partial centers and swing principal arm axle, on large side plate 2, two axles are established on right side, upper axle is connected with the top swinging auxiliary 11, lower shaft is connected with swing principal arm 10, swing principal arm 10 to be all connected with rotary arm shaft bearing 12 with the other end swinging auxiliary 11, rotary arm shaft bearing 12 is connected with the main shaft rotating principal arm 13 top, rotatable 360 °, rotate principal arm 13 to be connected with plumbing arm bearing block 14, plumbing arm bearing block 14 can plumbing arm rotating 360 degrees, plumbing arm bearing block 14 is connected with manipulator main shaft 16, manipulator main shaft 16 is provided with handrail 15, handrail 15 lower end inside is provided with personal computer control box 17, computer controling box 17 is provided with press button above, the integrated circuit of computer controling box 17 and pneumatic control valve, rotary cylinder 18, clamping cylinder 19 circuit is connected, manipulator main shaft 16 other end is provided with rotary cylinder 18, rotary cylinder 18 is connected with pneumatic control valve by tracheae 9, two pipelines are provided with in tracheae 9, an air inlet pipe, a muffler, the main shaft of rotary cylinder 18 is connected with clamping cylinder 19 by the axis hole on manipulator main shaft 16 top, clamping cylinder 19 is connected with jaw 20, jaw 20 can each half-twist in left and right, jaw 20 is two joint joints, workpiece 21 is accompanied in jaw 20, constitute a kind of Isobarically Control boosting manipulator.
Adopt electrical control and air pressure control principle is designed in conjunction forms, manipulator is made to realize grabbing folder, transmission fast and loading and unloading of workpiece 21, and the air pressure that cylinder can be kept to export reaches balance, decrease air pressure impulsive force and bounce-back, improve the performance of machine, ensure the safety of operator, simple to operate, operate laborsaving, highly effective and safe.Travelling car 6 is provided with pull bar 4, and below is provided with universal wheel 5, and pull bar 4 pulls travelling car 6, and the position that can realize this equipment is moved.Travelling car 6 is provided with column 7, column 7 top is provided with bearing block 8, be used for realizing the rotary motion of manipulator, workpiece 21 around within the scope of 360 ° can be operated, the top of column 7 is connected with the lower end on the right side of large side plate 2, pneumatic control valve is provided with in large side plate 2, adopt the pneumatic control valve that computerizeds control, telescopic cylinder 3, rotary cylinder 18, clamping cylinder 19, realize the elevating movement of manipulator, operation is realized to the object of differing heights, rotate, grab folder, transmit, the program of handling, pneumatic control valve is connected with telescopic cylinder 3, telescopic cylinder 3 is arranged on the lower end on the left of large side plate 2, interior plate 1 is provided with in large side plate 2, two that arrange on the left of interior plate 1 slide up and down axle and can move up and down in rectangular mounting hole slip axial trough, when manipulator declines, interior plate 1 just rises, the guide rod of telescopic cylinder 3 stretches out the guide pin bushing withstood on interior plate 1, swing principal arm 10 and swing auxiliary 11 are synchronously declined, when manipulator rises, interior plate 1 just declines, swing principal arm 10 and swing auxiliary 11 is made synchronously to increase.Telescopic cylinder 3 is provided with an air inlet pipeline, a return line, and computer controls pneumatic control valve, makes the guide rod of telescopic cylinder 3 do stretching motion.Pneumatic control valve has constant voltage and exports compensation, maintains inner pressure of air cylinder constant, makes manipulator have suspension, and the air pressure keeping cylinder to export reaches balance, decreases air pressure impulsive force and bounce-back.Rotary arm shaft bearing 12 is connected with the main shaft rotating principal arm 13, take main shaft as the center of circle, driven rotary principal arm 13 does 360 ° of motions, the bottom rotating principal arm 13 is provided with plumbing arm bearing block 14, and plumbing arm bearing block 14 is connected with manipulator main shaft 16, and manipulator main shaft 16 can be made to realize plumbing arm 360 ° rotation, manipulator main shaft 16 is provided with handrail 15, handrail 15 lower end inside is provided with personal computer control box 17, and operative employee's HPC control box 17 carrys out the operation program of manipulator, ensures operating efficiency.The integrated circuit of computer controling box 17 is connected with pneumatic control valve, telescopic cylinder 3, rotary cylinder 18, clamping cylinder 19 circuit.Manipulator main shaft 16 other end is provided with rotary cylinder 18, and rotary cylinder 18 is connected with pneumatic control valve by tracheae 9, and computer controling box 17 controls rotary cylinder 18, realizes the rotation of jaw 20 within the scope of 180 °.The main shaft of rotary cylinder 18 is connected with clamping cylinder 19 by the axis hole on manipulator main shaft 16 top, clamping cylinder 19 is connected with jaw 20, and clamping cylinder 19 is controlled by computer controling box 17, is used for controlling unclamping and clamping of jaw 20, during air inlet, air pressure in cylinder starts to increase, and piston guide rod does forward and stretches out motion, and jaw 20 starts workpiece 21 to clamp, during return-air, air pressure in cylinder starts to diminish, and piston guide rod starts to do contractile motion backward, and the workpiece 21 of clamping unclamps by jaw 20.Manipulator jaw 20 adopts two joint joint designs, ensures that manipulator can grab the workpiece 21 by difformity, material, weight.And according to Different Weight, difform part, the manipulator jaw 20 of different size can be housed, the position of clamping cylinder 19 device jaw 20, simultaneously can device electromagnet sucker, rely on the suction of electromagnet to draw workpiece.
Claims (1)
1. Isobarically Control boosting manipulator, containing interior plate, large side plate, telescopic cylinder, pull bar, universal wheel, travelling car, column, bearing block, tracheae, swing principal arm, swing auxiliary, rotary arm shaft bearing, rotate principal arm, plumbing arm bearing block, handrail, manipulator main shaft, computer controling box, rotary cylinder, clamping cylinder, jaw, workpiece, it is characterized in that: travelling car is an OBL chassis, the corner on chassis is respectively provided with a universal wheel, column is provided with at the center on chassis, left side is provided with pull bar, column top is provided with bearing block, rotatable 360 °, the top of column is connected with the lower end on the right side of large side plate, pneumatic control valve is provided with in large side plate, pneumatic control valve is connected with telescopic cylinder, telescopic cylinder is arranged on the lower end on the left of large side plate, the guide rod of telescopic cylinder is connected with the guide pin bushing on interior plate lower end, interior plate is provided with in large side plate, rectangular mounting hole slip axial trough is provided with on the left of large side plate, two sliding axles are provided with in axial trough, divide one on the other, two sliding axles are connected with interior plate, be provided with one at interior plate two sliding axle partial centers and swing principal arm axle, on large side plate, two axles are established on right side, upper axle is connected with the top swinging auxiliary, lower shaft is connected with swing principal arm, swing principal arm to be all connected with rotary arm shaft bearing with the other end swinging auxiliary, rotary arm shaft bearing is connected with the main shaft rotating principal arm top, rotatable 360 °, rotate principal arm to be connected with plumbing arm bearing block, plumbing arm bearing block can plumbing arm rotating 360 degrees, plumbing arm bearing block is connected with manipulator main shaft, manipulator main shaft is provided with handrail, handrail lower end inside is provided with personal computer control box, press button is provided with above computer controling box, the integrated circuit of computer controling box and pneumatic control valve, rotary cylinder, clamping cylinder circuit is connected, the manipulator main shaft other end is provided with rotary cylinder, rotary cylinder is connected with pneumatic control valve by tracheae, tracheal strips is provided with two pipelines, an air inlet pipe, a muffler, the main shaft of rotary cylinder is connected with clamping cylinder by the axis hole on manipulator main shaft top, clamping cylinder is connected with jaw, jaw can each half-twist in left and right, jaw is two joint joints, workpiece is accompanied in jaw, constitute the portable boosting manipulator of a kind of Isobarically Control.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310270158.6A CN104227696A (en) | 2013-06-20 | 2013-06-20 | Constant pressure control assisted manipulator |
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| CN201310270158.6A CN104227696A (en) | 2013-06-20 | 2013-06-20 | Constant pressure control assisted manipulator |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500356A (en) * | 2016-01-04 | 2016-04-20 | 湖州高源金机械有限公司 | Carrying manipulator of stacking machine |
| CN105538331A (en) * | 2015-12-18 | 2016-05-04 | 太仓权阡机械自动化有限公司 | Power-assisted manipulator |
| CN106078708A (en) * | 2016-06-30 | 2016-11-09 | 苏州勤堡精密机械有限公司 | Power-assisted parallel manipulator device |
| CN108189017A (en) * | 2018-03-29 | 2018-06-22 | 无锡恩特卫自动化检测设备有限公司 | A kind of bottle catching robot of white wine foreign matter detection system |
| CN108356787A (en) * | 2018-04-20 | 2018-08-03 | 力帆实业(集团)股份有限公司 | Electric vehicle changes electromechanical arm |
| CN109176486A (en) * | 2018-11-08 | 2019-01-11 | 江苏昱博自动化设备有限公司 | A kind of boosting manipulator |
| CN109514331A (en) * | 2018-12-10 | 2019-03-26 | 深圳市凯中精密技术股份有限公司 | A kind of material gripping device and material transfer robot |
| CN109986531A (en) * | 2019-04-28 | 2019-07-09 | 新乡市永安机械设备有限公司 | A kind of marine maintenance cooperation manipulator |
| CN110153844A (en) * | 2019-05-31 | 2019-08-23 | 成都极致智造科技有限公司 | A kind of constant pressure polishing system based on industrial robot |
| CN110741789A (en) * | 2019-05-23 | 2020-02-04 | 山东农业大学 | Whole group transferring, fetching and feeding device for plug tray pot seedlings |
| CN110900578A (en) * | 2019-12-17 | 2020-03-24 | 江苏昱博自动化设备有限公司 | Automatic change power-assisted carrying manipulator |
| CN110919635A (en) * | 2019-12-17 | 2020-03-27 | 江苏昱博自动化设备有限公司 | Feeding and discharging power-assisted mechanical arm for spraying |
| CN111941180A (en) * | 2020-08-07 | 2020-11-17 | 江苏昱博自动化设备有限公司 | Polishing assistance manipulator |
-
2013
- 2013-06-20 CN CN201310270158.6A patent/CN104227696A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105538331A (en) * | 2015-12-18 | 2016-05-04 | 太仓权阡机械自动化有限公司 | Power-assisted manipulator |
| CN105500356A (en) * | 2016-01-04 | 2016-04-20 | 湖州高源金机械有限公司 | Carrying manipulator of stacking machine |
| CN106078708A (en) * | 2016-06-30 | 2016-11-09 | 苏州勤堡精密机械有限公司 | Power-assisted parallel manipulator device |
| CN108189017A (en) * | 2018-03-29 | 2018-06-22 | 无锡恩特卫自动化检测设备有限公司 | A kind of bottle catching robot of white wine foreign matter detection system |
| CN108356787A (en) * | 2018-04-20 | 2018-08-03 | 力帆实业(集团)股份有限公司 | Electric vehicle changes electromechanical arm |
| CN109176486A (en) * | 2018-11-08 | 2019-01-11 | 江苏昱博自动化设备有限公司 | A kind of boosting manipulator |
| CN109514331A (en) * | 2018-12-10 | 2019-03-26 | 深圳市凯中精密技术股份有限公司 | A kind of material gripping device and material transfer robot |
| CN109986531A (en) * | 2019-04-28 | 2019-07-09 | 新乡市永安机械设备有限公司 | A kind of marine maintenance cooperation manipulator |
| CN110741789A (en) * | 2019-05-23 | 2020-02-04 | 山东农业大学 | Whole group transferring, fetching and feeding device for plug tray pot seedlings |
| CN110153844A (en) * | 2019-05-31 | 2019-08-23 | 成都极致智造科技有限公司 | A kind of constant pressure polishing system based on industrial robot |
| CN110900578A (en) * | 2019-12-17 | 2020-03-24 | 江苏昱博自动化设备有限公司 | Automatic change power-assisted carrying manipulator |
| CN110919635A (en) * | 2019-12-17 | 2020-03-27 | 江苏昱博自动化设备有限公司 | Feeding and discharging power-assisted mechanical arm for spraying |
| CN110919635B (en) * | 2019-12-17 | 2020-08-07 | 江苏昱博自动化设备有限公司 | Feeding and discharging power-assisted mechanical arm for spraying |
| CN111941180A (en) * | 2020-08-07 | 2020-11-17 | 江苏昱博自动化设备有限公司 | Polishing assistance manipulator |
| CN111941180B (en) * | 2020-08-07 | 2021-05-11 | 江苏昱博自动化设备有限公司 | Polishing assistance manipulator |
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Application publication date: 20141224 |