CN104723320A - Three-degree-of-freedom polar coordinate type teaching pneumatic manipulator - Google Patents

Three-degree-of-freedom polar coordinate type teaching pneumatic manipulator Download PDF

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Publication number
CN104723320A
CN104723320A CN201310705796.6A CN201310705796A CN104723320A CN 104723320 A CN104723320 A CN 104723320A CN 201310705796 A CN201310705796 A CN 201310705796A CN 104723320 A CN104723320 A CN 104723320A
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CN
China
Prior art keywords
cylinder
air cylinder
pitching
hinge
degree
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.)
Pending
Application number
CN201310705796.6A
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Chinese (zh)
Inventor
张铁异
张孟军
韦俊
张琦
方宇
陶思源
雷发兵
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Guangxi University
Original Assignee
Guangxi University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangxi University filed Critical Guangxi University
Priority to CN201310705796.6A priority Critical patent/CN104723320A/en
Publication of CN104723320A publication Critical patent/CN104723320A/en
Pending legal-status Critical Current

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Abstract

The invention relates to a three-degree-of-freedom polar coordinate type teaching pneumatic manipulator. The three-degree-of-freedom polar coordinate type teaching pneumatic manipulator comprises a detector, a guide rod, a paw, a piston rod, a telescopic air cylinder, a piston rod, a pitching air cylinder, a rotation air cylinder and a base. An upright is mounted on a rotary table, the telescopic air cylinder is connected with the upright and a cylinder rod of the pitching air cylinder via a hinge, the pitching air cylinder is connected with the upright via a hinge, the paw is mounted on the cylinder rod of the telescopic air cylinder, and the rotary table is connected with the rotation air cylinder in the base; the pitching air cylinder is connected with the upright via a hinge, and the cylinder rod of the pitching air cylinder is connected with the telescopic air cylinder via a hinge, so that the structure realizing the pitching motion of the manipulator arm is simple.

Description

A kind of Three Degree Of Freedom polar co-ordinate type teaching Pneumatic manipulator
Technical field
The present invention relates to manipulator technical field, particularly a kind of Three Degree Of Freedom polar co-ordinate type teaching Pneumatic manipulator.
Background technology
Along with the extensive use of manipulator technology, there is independent control, flexible movements, the general teaching type manipulator that is applicable to universities' experimental teaching developed rapidly, the electric type of drive of the many employings of type of drive of current general teaching type manipulator, motor drive machinery hand control performance is good, response is fast, but cost is high; Existing pneumatic Mechanical hands for teaching mostly is cartesian co-ordinate type manipulator, and cartesian co-ordinate type robot manipulator structure is more complicated, difficult in maintenance.And it is low to have cost, teaching type Unimate easy to maintenance, the to be convenient to learning and mastering effect in college's educational experimentation teaching is more and more important.
Summary of the invention
The object of the invention is to: high for existing teaching type manipulator cost, structure is more complicated, safeguard inconvenient deficiency, a kind of Three Degree Of Freedom polar co-ordinate type teaching Pneumatic manipulator is proposed, pitching can be realized, motion that flexible, rotation turns three degree of freedom, have cost low, structure is simple, feature easy to maintenance, can be used in college's educational experimentation teaching.
Technical scheme provided by the invention is: a kind of Three Degree Of Freedom polar co-ordinate type teaching Pneumatic manipulator, by checkout gear, guide post, paw, piston rod, telescopic cylinder, piston rod, face upward cylinder of bowing, rotary cylinder, base form, column is arranged on panoramic table, telescopic cylinder is connected by the cylinder rod of hinge with column and pitching cylinder, pitching cylinder block is connected with column by hinge, paw is arranged on the cylinder rod of telescopic cylinder, and panoramic table is connected with the rotary cylinder in base.
Outstanding advantages of the present invention is: pitching cylinder block is connected with column by hinge, and the cylinder rod of pitching cylinder is connected with telescopic cylinder by hinge, realizes arm and faces upward the relatively simple for structure of motion of bowing; Installation infrared electro-optical pickoff in cylinder block, cylinder rod installs transmission-type grating, the pulse of generation photosignal is moved by the mobile grating that drives of cylinder rod, according to the photosignal feeding back to input, controller judges whether the motion of arm puts in place, then the motion of control cylinder and stopping, can realizing the random positioned needs of manipulator, thus it is low to make the present invention have cost, structure is simple, feature easy to maintenance.
Accompanying drawing explanation
Fig. 1 is a kind of Three Degree Of Freedom polar co-ordinate type teaching Pneumatic manipulator schematic diagram of the present invention.
Detailed description of the invention
Below by way of accompanying drawing, technical scheme of the present invention is described further.
A kind of Three Degree Of Freedom polar co-ordinate type teaching Pneumatic manipulator, face upward by 1 checkout gear 2 guide post 3 paw 4 piston rod 5 telescopic cylinder 6 piston rod 7 cylinder 8 rotary cylinder 9 base of bowing to form, column is arranged on panoramic table, telescopic cylinder is connected by the cylinder rod of hinge with column and pitching cylinder, pitching cylinder block is connected with column by hinge, paw is arranged on the cylinder rod of telescopic cylinder, and panoramic table is connected with the rotary cylinder in base.
Outstanding advantages of the present invention is: pitching cylinder block is connected with column by hinge, and the cylinder rod of pitching cylinder is connected with telescopic cylinder by hinge, realizes arm and faces upward the relatively simple for structure of motion of bowing; Installation infrared electro-optical pickoff in cylinder block, cylinder rod installs transmission-type grating, the pulse of generation photosignal is moved by the mobile grating that drives of cylinder rod, according to the photosignal feeding back to input, controller judges whether the motion of arm puts in place, then the motion of control cylinder and stopping, can realizing the random positioned needs of manipulator, thus it is low to make the present invention have cost, structure is simple, feature easy to maintenance.

Claims (1)

1. a Three Degree Of Freedom polar co-ordinate type teaching Pneumatic manipulator, by checkout gear, guide post, paw, piston rod, telescopic cylinder, piston rod, face upward cylinder of bowing, rotary cylinder, base form, column is arranged on panoramic table, telescopic cylinder is connected by the cylinder rod of hinge with column and pitching cylinder, pitching cylinder block is connected with column by hinge, paw is arranged on the cylinder rod of telescopic cylinder, and panoramic table is connected with the rotary cylinder in base.
CN201310705796.6A 2013-12-20 2013-12-20 Three-degree-of-freedom polar coordinate type teaching pneumatic manipulator Pending CN104723320A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310705796.6A CN104723320A (en) 2013-12-20 2013-12-20 Three-degree-of-freedom polar coordinate type teaching pneumatic manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310705796.6A CN104723320A (en) 2013-12-20 2013-12-20 Three-degree-of-freedom polar coordinate type teaching pneumatic manipulator

Publications (1)

Publication Number Publication Date
CN104723320A true CN104723320A (en) 2015-06-24

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310705796.6A Pending CN104723320A (en) 2013-12-20 2013-12-20 Three-degree-of-freedom polar coordinate type teaching pneumatic manipulator

Country Status (1)

Country Link
CN (1) CN104723320A (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104552283A (en) * 2015-01-09 2015-04-29 广西大学 Three freedom degree polar coordinate type hydraulic drive manipulator for teaching
CN105945923A (en) * 2016-06-12 2016-09-21 江苏新光数控技术有限公司 Rotary clamping manipulator of industrial robot
CN106002979A (en) * 2016-06-12 2016-10-12 江苏新光数控技术有限公司 Three-degree-of-freedom pneumatic manipulator
CN106607881A (en) * 2015-10-26 2017-05-03 广西大学 Polar coordinate type simple hydraulic manipulator
CN106607882A (en) * 2015-10-26 2017-05-03 广西大学 Polar coordinate type simple pneumatic mechanical hand
RU184393U1 (en) * 2018-07-19 2018-10-24 Закрытое акционерное общество "Дидактические Системы" The mechanism for moving parts from one mechanism to another and for orientation of parts in space in a set of training equipment for installation, commissioning and operation of automated lines and mechatronic systems
CN108972523A (en) * 2018-07-25 2018-12-11 高梓祺 Mechanical mixture type electromechanical integration equipment and control method based on PLC control
RU187931U1 (en) * 2018-07-19 2019-03-25 Закрытое акционерное общество "Дидактические Системы" A platform for determining the type of material and the spatial arrangement of parts on it in a set of training equipment for the installation, commissioning and operation of automatic lines and mechatronic systems

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6305678B1 (en) * 2000-06-02 2001-10-23 Hammersmith Mfg. & Sales, Inc. Welder positioner
CN2759719Y (en) * 2004-12-24 2006-02-22 张建明 Multifunctional mechanical device used for fire fighting and emergency
CN201522805U (en) * 2009-06-25 2010-07-07 浙江亚龙教育装备股份有限公司 double-shaft linear carrying robot
DE202010008424U1 (en) * 2010-09-01 2011-12-06 Zasche Sitec Handling Gmbh handling device
CN102837306A (en) * 2011-10-12 2012-12-26 广西大学 Electric push rod manipulator
CN102913258A (en) * 2012-10-23 2013-02-06 游天月 Special automatic guniting mechanical arm for tunnel

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6305678B1 (en) * 2000-06-02 2001-10-23 Hammersmith Mfg. & Sales, Inc. Welder positioner
CN2759719Y (en) * 2004-12-24 2006-02-22 张建明 Multifunctional mechanical device used for fire fighting and emergency
CN201522805U (en) * 2009-06-25 2010-07-07 浙江亚龙教育装备股份有限公司 double-shaft linear carrying robot
DE202010008424U1 (en) * 2010-09-01 2011-12-06 Zasche Sitec Handling Gmbh handling device
CN102837306A (en) * 2011-10-12 2012-12-26 广西大学 Electric push rod manipulator
CN102913258A (en) * 2012-10-23 2013-02-06 游天月 Special automatic guniting mechanical arm for tunnel

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104552283A (en) * 2015-01-09 2015-04-29 广西大学 Three freedom degree polar coordinate type hydraulic drive manipulator for teaching
CN106607881A (en) * 2015-10-26 2017-05-03 广西大学 Polar coordinate type simple hydraulic manipulator
CN106607882A (en) * 2015-10-26 2017-05-03 广西大学 Polar coordinate type simple pneumatic mechanical hand
CN105945923A (en) * 2016-06-12 2016-09-21 江苏新光数控技术有限公司 Rotary clamping manipulator of industrial robot
CN106002979A (en) * 2016-06-12 2016-10-12 江苏新光数控技术有限公司 Three-degree-of-freedom pneumatic manipulator
RU184393U1 (en) * 2018-07-19 2018-10-24 Закрытое акционерное общество "Дидактические Системы" The mechanism for moving parts from one mechanism to another and for orientation of parts in space in a set of training equipment for installation, commissioning and operation of automated lines and mechatronic systems
RU184393U9 (en) * 2018-07-19 2018-11-21 Закрытое акционерное общество "Дидактические Системы" A mechanism for moving parts from one mechanism to another and for orienting parts in space in a set of training equipment for the installation, commissioning and operation of automatic lines and mechatronic systems
RU187931U1 (en) * 2018-07-19 2019-03-25 Закрытое акционерное общество "Дидактические Системы" A platform for determining the type of material and the spatial arrangement of parts on it in a set of training equipment for the installation, commissioning and operation of automatic lines and mechatronic systems
CN108972523A (en) * 2018-07-25 2018-12-11 高梓祺 Mechanical mixture type electromechanical integration equipment and control method based on PLC control

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Application publication date: 20150624