CN104229468A - Vacuum conveying manipulator - Google Patents
Vacuum conveying manipulator Download PDFInfo
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- CN104229468A CN104229468A CN201310270159.0A CN201310270159A CN104229468A CN 104229468 A CN104229468 A CN 104229468A CN 201310270159 A CN201310270159 A CN 201310270159A CN 104229468 A CN104229468 A CN 104229468A
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Abstract
The invention discloses a vacuum conveying manipulator and belongs to manipulators. A main rotary base is arranged at the top end of a column of the manipulator and is connected with a big side plate through a main rotation shaft; a main lift cylinder is arranged at the left lower end of the big side plate; a main joint lock device is arranged between the main rotary base and the big side plate; one end of a main swing arm and one end of an auxiliary swing arm are respectively connected with the big side plate, and the other end of the main swing arm and the other end of the auxiliary swing arm are respectively connected with a connecting plate; a cross arm rotary base is connected with a rotary arm through a rotary arm spindle; an auxiliary joint lock device is arranged between the rotary arm and the cross arm rotary base; a vertical arm rotary base is arranged at the tail end of the rotary arm and is connected with an auxiliary rotation shaft; the auxiliary rotation shaft is connected with a vertical arm, and a vacuum sucker is arranged at the tail end of the vertical arm. The manipulator adopts the vacuum principle to suck objects to further balance weight of the same, so that operators can complete carrying, turning and assembling of the objects without burden caused by weight of the objects. The vacuum conveying manipulator is easy to operate, labor saving in running and effective and safe. .
Description
Technical field
The present invention relates to a kind of manipulator, particularly a kind of vacuum carrying machinery hand, be applicable to the carrying of glass, coiled material, tubing and other surface is more smooth, shape is more regular all kinds of materials.
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).Because manipulator provides very good assist transportation and assembling tool for material rolling off the production line and producing article assembling, the three dimensional space move loading actions such as weight crawl, carrying, upset, docking, vernier angle can be completed, be thus widely used in commercial production.Manipulator can Some substitute people heavy labor with realize produce mechanization and automation, under the easy manipulation of worker, many complex work of automatic robot can be completed, and production and use cost greatly reduce, simultaneously range of use is also extensive, alerting ability and manoevreability larger.Vacuum carrying machinery hand is applicable to sheet material, glass, coiled material, tubing and other surface is more smooth, shape is more regular all kinds of material handlings.Operationally, there is certain impulsive force and bounce in common lifting appliance, comparatively large to workpiece infringement, safety performance and the equal out of reach ideal effect of setting accuracy.The technical personnel of R&D institution and enterprise is constantly being explored, is being studied, 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 vacuum carrying machinery hand is provided, utilize vacuum principle, absorbent bodies, and then the gravity of balance object, make operating personal when fundamental sensation is less than object gravity, easily complete the operations such as the carrying of object, upset, assembling, simple to operate, operate laborsaving, highly effective and safe.
The technical solution adopted for the present invention to solve the technical problems is: containing cardan wheel, travelling car, pull bar, column, main lift cylinder, main rotary seat, main rotating shaft, main joint locking device, large side plate, swing principal arm, swing auxiliary, subjoint locking device, connecting panel, transverse arm rotary seat, pivot arm main shaft, pivot arm, plumbing arm rotary seat, secondary S. A., lower plumbing arm, handrail, vacuum cup, travelling car cross section is rectangle, bottom it, corner is respectively provided with a cardan wheel, travelling car top middle portion is provided with column, left side is provided with pull bar, column top is provided with main rotary seat, rotatable 360 °, main rotary seat is connected with large side plate by main rotating shaft, pneumatic control valve is provided with in large side plate, pneumatic control valve is connected with main lift cylinder, on the left of large side plate, lower end is provided with main lift cylinder, large side plate is provided with interior plate, main joint locking device is provided with between main rotary seat and large side plate, swing principal arm to be connected with large side plate respectively with swing auxiliary one end, the other end is connected with connecting panel respectively, swing principal arm to be positioned at and to swing on the downside of auxiliary and to parallel with swing auxiliary, transverse arm rotary seat is connected with pivot arm by pivot arm main shaft, rotatable 300 ° of pivot arm, subjoint locking device is provided with between pivot arm and transverse arm rotary seat, pivot arm ends is provided with plumbing arm rotary seat, rotatable 360 °, plumbing arm rotary seat is connected with secondary S. A., secondary S. A. is connected with lower plumbing arm, lower plumbing arm is provided with handrail, handrail is provided with computer controling box, lower plumbing arm end is provided with vacuum cup, vacuum cup lower end is inhaled workpiece.
The present invention solves the know-why that its technical matters adopts: this manipulator utilizes vacuum adsorption principle, using vacuum pump or vacuum blower as vacuum source, vacuum is produced by the air of finding time in vacuum cup, thus various workpiece is firmly picked up, and by swinging principal arm, swinging auxiliary, pivot arm, lower plumbing arm etc. by workpiece handling to appointed place.This vacuum is produced by an outside vacuum pump or vacuum blower, do not need the load lifting that chain or rope hoist or other lifting means capture or mention.By detecting the degree of vacuum in vacuum cup, automatically can identify that lower plumbing arm has no-load, and automatically adjusting the air pressure in main lift cylinder through aerodynamics logic control loop, reaching self-balanced object.During work, weight is aerial just as being suspended in, and collision when product can be avoided to dock, avoids workpiece surface damage.In the operating range of manipulator, worker can be moved to optional position in three dimensional space, thus realizes the operation such as carrying, upset, assembling of workpiece.Complete machine need not electric-control system, only needs pressurized air and vacuum source to get final product work, very convenient.
Travelling car is for changing station, and travelling car is provided with column, and column top is provided with main rotary seat, can realize the principal rotating motion of manipulator, and operates the workpiece around within the scope of 360 °.The type selecting of vacuum carrying machinery hand be carry as required workpiece size, material, that weight is come is fixed, different materials needs the sucker with unlike material.The general option silica gel that such as surface of the work is more coarse or polyurethane sucker, add sponge sucker lip in addition, guarantee that sucker can adsorb safely.Workpiece for surperficial smoother selects natural rubber or NBR sucker as glass.The temperature of the working environment of manipulator, the selection of the sucker material that humidity and workpiece temperature etc. all can affect.
The invention has the beneficial effects as follows:
1) easy operation: this manipulator according to ergonomic designs, with worker tractive force up and down all around the automatic frame of three dimensional space survey and run, alleviate workman's work load, flexible to operation, increase work efficiency;
2) suspension is without impulsive force and do not have bounce: this manipulator mainly relies on vacuum source to produce vacuum at the air of suction cup interior of finding time, zero damage carrying or the material loading of workpiece can be completed, and when guaranteeing assembling product, flexible docking, impact when avoiding common lifting appliance to run and bounce, safety absorption, avoids workpiece surface damage;
3) registration: zero gravity suspended state, moves accurately location when ensureing workpiece docking at random.
4) safety is high: when vacuum pump power-off, energy of reserve can keep load several hours, as long as there is suitable vacuum to exist in sucker, load would not be fallen.
Accompanying drawing explanation
Here is that the invention will be further described in conjunction with the accompanying drawings and embodiments:
It is a kind of vacuum carrying machinery hand structural representation in figure.
In the drawings, 1 cardan wheel, 2 travelling cars, 3 pull bars, 4 columns, 5 main lift cylinders, 6 main rotary seats, 7 main rotating shafts, 8 main joint locking devices, 9 large side plates, 10 swing principal arm, 11 and swing auxiliary, 12 subjoint locking devices, 13 connecting panels, 14 transverse arm rotary seats, 15 pivot arm main shafts, 16 pivot arms, 17 plumbing arm rotary seats, 18 secondary S. A.s, 19 times plumbing arms, 20 handrails, 21 vacuum cups, 22 workpiece.
Detailed description of the invention
In the drawings, travelling car 2 cross section is rectangle, bottom it, corner is respectively provided with a cardan wheel 1, travelling car 2 top middle portion is provided with column 4, left side is provided with pull bar 3, column 4 top is provided with main rotary seat 6, rotatable 360 °, main rotary seat 6 is connected with large side plate 9 by main rotating shaft 7, pneumatic control valve is provided with in large side plate 9, pneumatic control valve is connected with main lift cylinder 5, on the left of large side plate 9, lower end is provided with main lift cylinder 5, large side plate 9 is provided with interior plate, main joint locking device 8 is provided with between main rotary seat 6 and large side plate 9, swing principal arm 10 to be connected with large side plate 9 respectively with swing auxiliary 11 one end, the other end is connected with connecting panel 13 respectively, swing principal arm 10 to be positioned at and to swing on the downside of auxiliary 11 and to parallel with swing auxiliary 11, transverse arm rotary seat 14 is connected with pivot arm 16 by pivot arm main shaft 15, rotatable 300 ° of pivot arm 16, subjoint locking device 12 is provided with between pivot arm 16 and transverse arm rotary seat 14, pivot arm 16 end is provided with plumbing arm rotary seat 17, rotatable 360 °, plumbing arm rotary seat 17 is connected with secondary S. A. 18, secondary S. A. 18 is connected with lower plumbing arm 19, lower plumbing arm 19 is provided with handrail 20, handrail 20 is provided with computer controling box, lower plumbing arm 19 end is provided with vacuum cup 21, vacuum cup 21 lower end is inhaled workpiece.
This manipulator utilizes vacuum adsorption principle, using vacuum pump or vacuum blower as vacuum source, vacuum is produced by the air of finding time in vacuum cup 21, thus various workpiece is firmly picked up, and by swinging principal arm 10, swinging auxiliary 11, pivot arm 16, lower plumbing arm 19 etc. by workpiece handling to appointed place.This vacuum is produced by an outside vacuum pump or vacuum blower, do not need the load lifting that chain or rope hoist or other lifting means capture or mention.By detecting the degree of vacuum in vacuum cup 21, automatically can identify that lower plumbing arm 19 has no-load, and automatically adjusting the air pressure in main lift cylinder 5 through aerodynamics logic control loop, reaching self-balanced object.During work, weight is aerial just as being suspended in, and collision when product can be avoided to dock, avoids workpiece surface damage.In the operating range of manipulator, worker can be moved to optional position in three dimensional space, thus realizes the operation such as carrying, upset, assembling of workpiece.Complete machine need not electric-control system, only needs pressurized air and vacuum source to get final product work, very convenient.
Travelling car 2 is for changing station, and travelling car 2 is provided with column 4, and column 4 top is provided with main rotary seat 6, can realize the principal rotating motion of manipulator, and operates the workpiece around within the scope of 360 °.The type selecting of vacuum carrying machinery hand be carry as required workpiece size, material, that weight is come is fixed, different materials needs the sucker with unlike material.The general option silica gel that such as surface of the work is more coarse or polyurethane sucker, add sponge sucker lip in addition, guarantee that sucker can adsorb safely.Workpiece for surperficial smoother selects natural rubber or NBR sucker as glass.The temperature of the working environment of manipulator, the selection of the sucker material that humidity and workpiece temperature etc. all can affect.
Claims (1)
1. vacuum carrying machinery hand, containing cardan wheel, travelling car, pull bar, column, main lift cylinder, main rotary seat, main rotating shaft, main joint locking device, large side plate, swing principal arm, swing auxiliary, subjoint locking device, connecting panel, transverse arm rotary seat, pivot arm main shaft, pivot arm, plumbing arm rotary seat, secondary S. A., lower plumbing arm, handrail, vacuum cup, it is characterized in that: travelling car cross section is rectangle, bottom it, corner is respectively provided with a cardan wheel, travelling car top middle portion is provided with column, left side is provided with pull bar, column top is provided with main rotary seat, rotatable 360 °, main rotary seat is connected with large side plate by main rotating shaft, column top is connected with 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 main lift cylinder, on the left of large side plate, lower end is provided with main lift cylinder, large side plate is provided with interior plate, main joint locking device is provided with between main rotary seat and large side plate, swing principal arm to be connected with large side plate respectively with swing auxiliary one end, the other end is connected with connecting panel respectively, swing principal arm to be positioned at and to swing on the downside of auxiliary and to parallel with swing auxiliary, transverse arm rotary seat is connected with pivot arm by pivot arm main shaft, rotatable 300 ° of pivot arm, subjoint locking device is provided with between pivot arm and transverse arm rotary seat, pivot arm ends is provided with plumbing arm rotary seat, rotatable 360 °, plumbing arm rotary seat is connected with secondary S. A., secondary S. A. is connected with lower plumbing arm, lower plumbing arm is provided with handrail, handrail is provided with computer controling box, lower plumbing arm end is provided with vacuum cup, vacuum cup lower end is inhaled workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310270159.0A CN104229468A (en) | 2013-06-20 | 2013-06-20 | Vacuum conveying manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310270159.0A CN104229468A (en) | 2013-06-20 | 2013-06-20 | Vacuum conveying manipulator |
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| Publication Number | Publication Date |
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| CN104229468A true CN104229468A (en) | 2014-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310270159.0A Pending CN104229468A (en) | 2013-06-20 | 2013-06-20 | Vacuum conveying manipulator |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104944197A (en) * | 2015-05-27 | 2015-09-30 | 东莞市威力固电路板设备有限公司 | Working method of bidirectional plate collection system |
| CN105804010A (en) * | 2016-04-26 | 2016-07-27 | 于广 | Angle-adjustable concrete product rapid grabbing device based on sucker technique |
| CN107244564A (en) * | 2017-07-25 | 2017-10-13 | 芜湖超源力工业设计有限公司 | A kind of turnover robot palletizer of fixture |
| CN107640581A (en) * | 2017-09-22 | 2018-01-30 | 重庆秦安铸造有限公司 | A kind of manufacture method of finished product wound membrane special transport device |
| CN107717949A (en) * | 2017-11-23 | 2018-02-23 | 苏州夏木自动化科技有限公司 | Ground moving boosting manipulator |
| CN109335671A (en) * | 2018-09-26 | 2019-02-15 | 芜湖优能自动化设备有限公司 | Vacuum sucking device is used in a kind of production of oil discharging seat |
| CN110203672A (en) * | 2019-06-21 | 2019-09-06 | 惠州连硕科技有限公司 | A kind of connector arrangement of conveyer and balancing machine hand |
| CN114763219A (en) * | 2021-01-11 | 2022-07-19 | 颍上县郭氏宝发米业有限公司 | Handling device for grain purchasing station |
| CN117227607A (en) * | 2023-11-07 | 2023-12-15 | 国机传感科技有限公司 | Intelligent carrying device for heliostat lenses |
| CN117699386A (en) * | 2024-02-06 | 2024-03-15 | 长治凌燕机械厂 | Upper and lower buttress conveyer |
-
2013
- 2013-06-20 CN CN201310270159.0A patent/CN104229468A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104944197A (en) * | 2015-05-27 | 2015-09-30 | 东莞市威力固电路板设备有限公司 | Working method of bidirectional plate collection system |
| CN105804010A (en) * | 2016-04-26 | 2016-07-27 | 于广 | Angle-adjustable concrete product rapid grabbing device based on sucker technique |
| CN107244564A (en) * | 2017-07-25 | 2017-10-13 | 芜湖超源力工业设计有限公司 | A kind of turnover robot palletizer of fixture |
| CN107640581B (en) * | 2017-09-22 | 2019-05-21 | 重庆秦安铸造有限公司 | A kind of manufacturing method of finished product wound membrane special transport device |
| CN107640581A (en) * | 2017-09-22 | 2018-01-30 | 重庆秦安铸造有限公司 | A kind of manufacture method of finished product wound membrane special transport device |
| CN107717949A (en) * | 2017-11-23 | 2018-02-23 | 苏州夏木自动化科技有限公司 | Ground moving boosting manipulator |
| CN109335671A (en) * | 2018-09-26 | 2019-02-15 | 芜湖优能自动化设备有限公司 | Vacuum sucking device is used in a kind of production of oil discharging seat |
| CN110203672A (en) * | 2019-06-21 | 2019-09-06 | 惠州连硕科技有限公司 | A kind of connector arrangement of conveyer and balancing machine hand |
| CN114763219A (en) * | 2021-01-11 | 2022-07-19 | 颍上县郭氏宝发米业有限公司 | Handling device for grain purchasing station |
| CN117227607A (en) * | 2023-11-07 | 2023-12-15 | 国机传感科技有限公司 | Intelligent carrying device for heliostat lenses |
| CN117227607B (en) * | 2023-11-07 | 2024-01-12 | 国机传感科技有限公司 | Intelligent carrying device for heliostat lenses |
| CN117699386A (en) * | 2024-02-06 | 2024-03-15 | 长治凌燕机械厂 | Upper and lower buttress conveyer |
| CN117699386B (en) * | 2024-02-06 | 2024-04-26 | 长治凌燕机械厂 | Upper and lower buttress conveyer |
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| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20141224 |