CN105437224A - Overturning manipulator for clamping anti-collision beam - Google Patents

Overturning manipulator for clamping anti-collision beam Download PDF

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Publication number
CN105437224A
CN105437224A CN201510998167.6A CN201510998167A CN105437224A CN 105437224 A CN105437224 A CN 105437224A CN 201510998167 A CN201510998167 A CN 201510998167A CN 105437224 A CN105437224 A CN 105437224A
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CN
China
Prior art keywords
horizontal
vertical
motor
collision prevention
prevention girders
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Granted
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CN201510998167.6A
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Chinese (zh)
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CN105437224B (en
Inventor
王慰军
杨桂林
张驰
陈庆盈
李俊杰
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Ningbo Institute of Material Technology and Engineering of CAS
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Ningbo Institute of Material Technology and Engineering of CAS
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Priority to CN201510998167.6A priority Critical patent/CN105437224B/en
Publication of CN105437224A publication Critical patent/CN105437224A/en
Application granted granted Critical
Publication of CN105437224B publication Critical patent/CN105437224B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/08Programme-controlled manipulators characterised by modular constructions
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/08Gripping heads and other end effectors having finger members

Abstract

The invention provides an overturning manipulator for clamping an anti-collision beam. The overturning manipulator comprises a horizontal movement assembly, a vertical movement assembly and an overturning assembly, wherein the horizontal movement assembly comprises a horizontal motor, a horizontal driving component and a horizontal connecting plate; the vertical movement assembly is arranged on the horizontal connecting plate, and the horizontal connecting plate drives the vertical movement assembly to horizontally move; the vertical movement assembly comprises a vertical motor, a vertical driving component and a vertical connecting plate; the overturning assembly is arranged on the vertical connecting plate; and the overturning assembly comprises an overturning motor and relatively-arranged pneumatic claws, wherein the relatively-arranged pneumatic claws can be used for clamping an anti-collision beam, and the overturning motor drives the relatively-arranged pneumatic claws to overturn. The overturning assembly can be used for overturning the anti-collision beam and similar parts in the pneumatic claws to the required angle and fixing the anti-collision beam and the similar parts, then, the vertical movement assembly on the overturning assembly is driven by the horizontal movement assembly to move, and the vertical movement assembly drives the overturning assembly on the vertical movement assembly to move, so that the overturning manipulator is high in automation degree and convenient to grab and overturn.

Description

For the turning manipulator of gripping collision prevention girders
Technical field
The present invention relates to manipulator technical field, particularly relate to a kind of turning manipulator for gripping collision prevention girders.
Background technology
At present, collision prevention girders is used to alleviate a kind of device absorbing collision energy when vehicle is collided, and mainly comprises girder, energy-absorption box and connects the installing plate of automobile.Girder, energy-absorption box effectively can absorb collision energy when vehicle generation low speed collision, reduce impact as far as possible to the infringement of chassis runner, by just having played like this its protective effect to vehicle.But in order to the collision prevention girders part that will have gluedd joint carries out boring the operational sequence of riveting, need collision prevention girders to capture from pipeline, then turn over and turn 90 degrees fixing, and current equipment can not meet this requirement, is not easy to user and uses.
Summary of the invention
Based on this, be necessary the conveying for current collision prevention girders and the problem of upset inconvenience, provide a kind of and can be convenient to the conveying of collision prevention girders and the turning manipulator for gripping collision prevention girders of upset.
Above-mentioned purpose is achieved through the following technical solutions:
For a turning manipulator for gripping collision prevention girders, comprising:
Horizontal movement assembly, comprises horizontal motor, horizontal conveyor part and horizontal connecting plate, and described horizontal motor drives described driving member to drive described horizontal connecting plate horizontal movement;
Vertical motion assemblies, is installed on described horizontal connecting plate, and described horizontal connecting plate drives described vertical motion assemblies horizontal movement; Described vertical motion assemblies comprises motor vertical, vertical-transmission part and vertical center web, and described motor vertical drives described vertical-transmission part to drive described vertical center web to move both vertically; And
Upset assembly, be installed on described vertical center web, described vertical center web drives described upset assembly to move both vertically; Described upset assembly comprises upset motor and the gas pawl that is oppositely arranged, and the described gas pawl be oppositely arranged can gripping collision prevention girders, and described upset motor drives the described gas pawl upset be oppositely arranged.
Wherein in an embodiment, the described turning manipulator for gripping collision prevention girders also comprises crossbeam, and described upset assembly is installed on described vertical center web by described crossbeam.
Wherein in an embodiment, described upset assembly also comprises adjustment cylinder, and described adjustment cylinder is connected with described gas pawl, and described adjustment cylinder can adjust the position of described gas pawl to capture or to unclamp described collision prevention girders.
Wherein in an embodiment, described upset assembly also comprises magnetic valve, described magnetic valve is connected with described adjustment cylinder, adjusts cylinder and stretch out or retract described in described solenoid control, and then position when adjusting the crawl of described gas pawl or unclamp described collision prevention girders.
Wherein in an embodiment, described upset assembly also comprises anticollison block, and described anticollison block is arranged at the lower end of described gas pawl, and described anticollison block can be spacing to the vertical lowering motion of described vertical motion assemblies.
Wherein in an embodiment, described horizontal movement assembly also comprises horizontal level detecting sensor and horizontal supporting plate, described horizontal motor, described horizontal conveyor part and described horizontal level detecting sensor are all installed on described horizontal supporting plate, and described horizontal level detecting sensor can detect the movement position of described horizontal conveyor part;
Described vertical motion assemblies also comprises upright position detecting sensor and vertical support plate, described motor vertical, described vertical-transmission part and described upright position detecting sensor are all installed in described vertical support plate, and described upright position detecting sensor can detect the movement position of described vertical-transmission part;
Described upset assembly also comprises upturned position detecting sensor, and described upturned position detecting sensor is arranged on described crossbeam.
Wherein in an embodiment, described horizontal motor, described motor vertical and described upset motor are the stepper motor with brake.
Wherein in an embodiment, described horizontal conveyor part comprises horizontal linear guide rail and horizontal ball-screw;
Described horizontal ball-screw is connected with the output of described horizontal motor, and described horizontal connecting plate is installed on described horizontal linear guide rail, and described horizontal motor drives described horizontal ball-screw to drive described horizontal connecting plate along described horizontal linear guide rail movement;
Described vertical-transmission part comprises vertical line guide rail and vertical ball-screw;
Described vertical ball-screw is connected with the output of described motor vertical, and described vertical center web is installed on described vertical line guide rail, and described motor vertical drives described vertical ball-screw to drive described vertical center web along described vertical line guide rail movement.
Wherein in an embodiment, the described turning manipulator for gripping collision prevention girders also comprises horizontal protective cover and vertical protective cover;
Described horizontal protective cover cover establishes described horizontal linear guide rail and described horizontal ball-screw;
Described vertical protective cover cover establishes described vertical line guide rail and described vertical ball-screw.
Wherein in an embodiment, the described turning manipulator for gripping collision prevention girders also comprises base, and described horizontal movement assembly is installed on described base;
And described base aluminum alloy materials is made.
The invention has the beneficial effects as follows:
Turning manipulator for gripping collision prevention girders of the present invention, structural design advantages of simple, by the upset gas pawl gripping collision prevention girders of assembly and the crawl of like parts thereof, upset assembly can by the angle needed for the collision prevention girders in gas pawl and like parts upset thereof, and collision prevention girders and like parts thereof are fixed, the vertical motion assemblies on it is driven to move by horizontal movement assembly again, vertical motion assemblies drives the upset component movement on it, make the turning manipulator automaticity for gripping collision prevention girders of the present invention high, be convenient to the crawl of part, upset and transport, easy to use.
Accompanying drawing explanation
Fig. 1 is the stereogram of the turning manipulator for gripping collision prevention girders of one embodiment of the invention;
Fig. 2 is the front view of the turning manipulator for gripping collision prevention girders shown in Fig. 1;
Fig. 3 is for overturning schematic diagram when assembly overturns 90 ° in the turning manipulator for gripping collision prevention girders shown in Fig. 1;
Fig. 4 is the pneumatic schematic diagram of the turning manipulator for gripping collision prevention girders of the present invention;
Wherein:
100-is used for the turning manipulator of gripping collision prevention girders;
110-horizontal movement assembly;
120-vertical motion assemblies;
130-overturns assembly; 131-gas pawl; 132-adjusts cylinder;
140-crossbeam;
150-base;
160-drag chain;
200-collision prevention girders.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, by the following examples, and by reference to the accompanying drawings, the turning manipulator for gripping collision prevention girders of the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
See Fig. 1 to Fig. 3, the invention provides a kind of turning manipulator 100 for gripping collision prevention girders, for gripping collision prevention girders 200 and similar part thereof, so that collision prevention girders 200 and similar part thereof carry out the operation processing of subsequent processing.Turning manipulator 100 for gripping collision prevention girders comprises horizontal movement assembly 110, vertical motion assemblies 120 and upset assembly 130.
In the present invention, the collision prevention girders 200 that upset assembly 130 can drive it to capture and similar part thereof do flip-flop movement; Upset assembly 130 is installed in vertical motion assemblies 120, and vertical motion assemblies 120 can move both vertically, and vertical motion assemblies 120 drives the upset assembly 130 on it together to move both vertically; Vertical motion assemblies 120 is installed on horizontal movement assembly 110, horizontal movement assembly 110 can do horizontal movement, namely overturning assembly 130 is all installed on horizontal movement assembly 110 with vertical motion assemblies 120, and horizontal movement assembly 110 drives vertical motion assemblies 120 on it together to do horizontal movement with upset assembly 130.Upset assembly 130 can make collision prevention girders 200 and similar fitting turnover thereof to required angle, and collision prevention girders 200 and similar part thereof can be transported to desired position by horizontal movement assembly 110 and vertical motion assemblies 120, convenient and swift, automaticity is high, easy to use.
Concrete, horizontal movement assembly 110 comprises horizontal motor, horizontal conveyor part and horizontal connecting plate, and horizontal motor drives driving member to drive horizontal connecting plate horizontal movement.Horizontal motor provides power for the horizontal movement of the turning manipulator 100 for gripping collision prevention girders of the present invention, and the output of horizontal motor is connected with horizontal conveyor part, and the drive force horizontal connecting plate that horizontal conveyor part can transmit horizontal motor does horizontal movement.
Vertical motion assemblies 120 is installed on horizontal connecting plate, and horizontal connecting plate drives vertical motion assemblies 120 horizontal movement; Vertical motion assemblies 120 comprises motor vertical, vertical-transmission part and vertical center web, and motor vertical drives vertical-transmission part to drive vertical center web to move both vertically.Horizontal connecting plate can drive the vertical motion assemblies 120 on it together to do horizontal movement when doing horizontal movement, simultaneously, vertical motion assemblies 120 can also move both vertically, make the horizontal movement of the turning manipulator 100 for gripping collision prevention girders of the present invention and move both vertically and can not interfere phenomenon, ensure stable movement.Motor vertical provides power for the moving both vertically of turning manipulator 100 for gripping collision prevention girders of the present invention, and the output of motor vertical is connected with vertical-transmission part, and the drive force vertical center web that vertical-transmission part can transmit motor vertical moves both vertically.
Upset assembly 130 is installed on vertical center web, and vertical center web drives upset assembly 130 to move both vertically; Upset assembly 130 comprises upset motor and the gas pawl 131 that is oppositely arranged, and the gas pawl 131 be oppositely arranged can gripping collision prevention girders 200, and upset motor drives the gas pawl 131 be oppositely arranged to overturn.The collision prevention girders 200 that upset assembly 130 can drive it to capture and similar part thereof do flip-flop movement, and the angle of upset is 0 ° ~ 200 °, with the user demand of satisfied different Working position.The upset assembly 130 on it can be driven when vertical center web moves both vertically together to move both vertically, simultaneously, upset assembly 130 can also do flip-flop movement, make moving both vertically of the turning manipulator 100 for gripping collision prevention girders of the present invention can not interfere phenomenon with flip-flop movement, ensure stable movement.Upset motor provides power for the flip-flop movement of the turning manipulator 100 for gripping collision prevention girders of the present invention, upset assembly 130 also comprises flip-arm, flip-arm is installed on the output of upset motor, gas pawl 131 is connected by the output of flip-arm with upset motor, and then the gas pawl 131 that upset motor can control to be oppositely arranged by flip-arm drives collision prevention girders 200 and similar fitting turnover thereof to required angle, after upset, collision prevention girders 200 and similar part thereof are fixed, so that the operation of subsequent handling by the self-locking of upset motor.See Fig. 3, position during the gas pawl 131 gripping collision prevention girders 200 of the turning manipulator 100 for gripping collision prevention girders of the present invention is the A position shown in Fig. 3, after overturning 90 ° for the upset assembly 130 of the turning manipulator 100 of gripping collision prevention girders, the position of collision prevention girders 200 is the B position shown in Fig. 3.
At present, collision prevention girders is used to alleviate a kind of device absorbing collision energy when vehicle is collided.But in order to the collision prevention girders part that will have gluedd joint carries out boring the operational sequence of riveting, need collision prevention girders to capture from pipeline, then turn over and turn 90 degrees fixing, and current equipment can not meet this requirement, is not easy to user and uses.See Fig. 1 to Fig. 3, turning manipulator 100 for gripping collision prevention girders of the present invention is by the upset gas pawl 131 gripping collision prevention girders 200 of assembly 130 and the crawl of like parts thereof, upset assembly 130 can by the angle needed for the collision prevention girders 200 in gas pawl 131 and like parts upset thereof, and collision prevention girders and like parts thereof are fixed, the vertical motion assemblies 120 on it is driven to move by horizontal movement assembly 110 again, vertical motion assemblies 120 drives the upset assembly 130 on it to move, make turning manipulator 100 automaticity for gripping collision prevention girders of the present invention high, be convenient to the crawl of part, upset and transport, easy to use.
As a kind of embodiment, the turning manipulator 100 for gripping collision prevention girders also comprises base 150, and horizontal movement assembly 110 is installed on base 150; And base 150 aluminum alloy materials is made.Parts based on base 150, for supporting the whole turning manipulator 100 for gripping collision prevention girders.Base 150 comprises frame structure, side plate and top board, and side plate and top board are all installed in frame structure.Horizontal movement assembly 110 is installed on the top board of base 150.The frame structure of base 150 adopts aluminium alloy extrusions to be formed by connecting by connector, and the side plate of base 150 and top board adopt high-strength aluminum alloy material to process, and guarantee that whole base 150 has high rigidity and enough stability.Meanwhile, the support of base 150 adopts 4 burr adjustable tail margin dishes, can adjust base 150 level easily.In addition, base 150 can also be connected and fixed by connector and pipeline basis.
As a kind of embodiment, the turning manipulator 100 for gripping collision prevention girders also comprises crossbeam 140, and upset assembly 130 is installed on vertical center web by crossbeam 140.Crossbeam 140 is similar to cantilever beam structure, can play a supporting role, upset assembly 130 is installed on the end of crossbeam 140, upset assembly 130 is supported by crossbeam 140, make upset assembly 130 fixed, then ensure that vertical center web drives upset assembly 130 together to do the synchronism moved both vertically.Further, upset assembly 130 is installed on the end of crossbeam 140 by two taper roll bearings, taper roll bearing can support upset assembly 130, can also ensure that the flip-flop movement overturning assembly 130 can not interfere with moving both vertically of vertical motion assemblies 120 simultaneously.The axial locking of taper roll bearing adopts locking nut to realize, and guarantees that taper roll bearing is fixing reliable, axial float can not occur.
As a kind of embodiment, upset assembly 130 also comprises adjustment cylinder 132, and adjustment cylinder 132 is connected with gas pawl 131, and adjustment cylinder 132 can adjust the position of gas pawl 131, can capture or unclamp collision prevention girders 200 to make gas pawl 131.Adjustment cylinder 132 adjusts the movement position of gas pawl 131, and gas pawl 131 is used to capture or unclamp collision prevention girders 200 and like parts thereof.The free degree of gas pawl 131 motion is increased, expansion service behaviour by arranging adjustment cylinder 132 on the gas pawl 131 be oppositely arranged.In addition, crawl and the rotary movement of various part can be met by the shape of the quantity and change end effector that increase end effector at gas pawl 131, to expand and to extend the application scenario of turning manipulator of the present invention.Concrete, the effective travel of adjustment cylinder 132 is 60mm ~ 80mm, specifically can be 75mm; The pine folder stroke of gas pawl 131 is 30mm ~ 60mm.Further, the horizontal movement stroke of horizontal movement assembly 110 is 200mm ± 0.05mm; The stroke that moves both vertically of vertical motion assemblies 120 is 200mm ± 0.05mm.The weight of maximum grabbing workpiece is 25Kg.
As a kind of embodiment, turning manipulator 100 for gripping collision prevention girders also comprises magnetic valve, magnetic valve is connected with adjustment cylinder 132, and solenoid control adjustment cylinder 132 stretches out or retracts, and then the position of adjustment gas pawl 131 is to capture or to unclamp collision prevention girders 200.Magnetic valve is 3 position-5 way magnetic valve, the corresponding 3 position-5 way magnetic valve of adjustment cylinder 132, the corresponding 3 position-5 way solenoid directional control valve of gas pawl 131.Turning manipulator 100 for gripping collision prevention girders also comprises source of the gas, is transferred to 3 position-5 way magnetic valve by pressure regulator valve, and, concrete pneumatic relationships is as shown in the table, and see Fig. 4, is realized the synchronization action of adjustment cylinder 132 by source of the gas, equally, gas pawl 131 also realizes synchronization action by source of the gas.Carry out stretching out and retraction of control cylinder by 3 position-5 way solenoid directional control valve, control unclamping and crawl of gas pawl 131.Further, when solenoid directional control valve is positioned at meta state, the self-locking of cylinder or gas pawl 131 can be realized.
Action 1DT 2DT 3DT 4DT
Clamping - + + -
Unclamp + - - +
Self-locking keeps - - - -
See Fig. 1 to Fig. 3, as a kind of embodiment, upset assembly 130 also comprises anticollison block, and anticollison block is arranged at the lower end of gas pawl 131, and anticollison block can be spacing to the vertical lowering motion of vertical motion assemblies 120.Anticollison block is arranged at the below of the gas pawl 131 of upset assembly 130, and anticollison block can play crashproof effect, ensures the reliability of upset assembly 130.When vertical motion assemblies 120 drives upset assembly 130 to move both vertically downwards, anticollison block can prevent upset assembly 130 from bumping against on the top board of base 150, ensure that upset assembly 130 operates steadily, and then ensure whole turning manipulator 100 reliability of operation for gripping collision prevention girders.
As a kind of embodiment, horizontal movement assembly 110 also comprises horizontal level detecting sensor and horizontal supporting plate.Horizontal supporting plate can play a supportive role, and horizontal motor, horizontal conveyor part and horizontal level detecting sensor are all installed on horizontal supporting plate, with other parts in support level moving parts 110.Vertical motion assemblies 120 also comprises upright position detecting sensor and vertical support plate, and motor vertical, vertical-transmission part and upright position detecting sensor are all installed in vertical support plate, to support other parts in vertical motion assemblies 120.Upset assembly 130 also comprises upturned position detecting sensor, and upturned position detecting sensor is arranged on crossbeam 140.
Horizontal level detecting sensor is used for the assigned address whether detection level moving parts 110 moves to requirement, guarantee the correct execution of the horizontal movement flow process of horizontal movement assembly 110, and then ensure that the turning manipulator 100 being used for gripping collision prevention girders can true(-)running.Concrete, horizontal level detecting sensor can the movement position of detection level driving member.Whether upright position detecting sensor moves to the assigned address of requirement for detecting vertical motion assemblies 120, guarantee the correct execution of the flow process that moves both vertically of vertical motion assemblies 120, and then ensure that the turning manipulator 100 being used for gripping collision prevention girders can true(-)running.Concrete, upright position detecting sensor can detect the movement position of vertical-transmission part.Whether upturned position detecting sensor moves to the assigned address of requirement for detecting turnover motion component, guarantee the correct execution of the flip-flop movement flow process of turnover motion component, and then ensures that the turning manipulator 100 being used for gripping collision prevention girders can true(-)running.Concrete, upturned position detecting sensor can detect the movement position of gas pawl 131.
In addition, horizontal level detecting sensor, upright position detecting sensor and upturned position detecting sensor can also limit each extreme position of respective horizontal movement assembly 110, vertical motion assemblies 120 and upset assembly 130, prevent collision or overtravel from running.In addition, the flip angle of upset assembly 130 is variable, is fixed, realize the processing request of part different parts by the upset adjustment of upturned position detecting sensor being met to different angles.
As a kind of embodiment, horizontal motor, motor vertical and upset motor are the stepper motor with brake.Horizontal motor, motor vertical and upset motor all adopt the stepper motor with brake function, can ensure that the horizontal movement assembly 110 of the turning manipulator 100 for gripping collision prevention girders, vertical motion assemblies 120 and upset assembly 130 stop in any position, to carry out corresponding flow chart.According to action request, horizontal movement assembly 110 and the fastest movement velocity of vertical motion assemblies 120 are 1m/s; The rotary movement of upset assembly 130 requires complete upset in 90 ° in 1s, so increase decelerator before upset motor, to reduce rotating speed and to expand turning torque.Concrete, the speed ratio of decelerator is 50.
As a kind of embodiment, horizontal conveyor part comprises horizontal linear guide rail and horizontal ball-screw; Horizontal ball-screw is connected with the output of horizontal motor, and horizontal connecting plate is installed on horizontal linear guide rail, and horizontal motor drives horizontal ball-screw to drive horizontal connecting plate along horizontal linear guide rail movement.Horizontal connecting plate is driven by horizontal ball-screw, and along horizontal linear guide rail movement, to ensure the smoothness of horizontal movement.Vertical-transmission part comprises vertical line guide rail and vertical ball-screw; Vertical ball-screw is connected with the output of motor vertical, and vertical center web is installed on vertical line guide rail, and motor vertical drives vertical ball-screw to drive vertical center web along vertical line guide rail movement.Vertical center web is driven by vertical ball-screw, and along vertical line guide rail movement, to ensure the smoothness moved both vertically.
Further, the turning manipulator 100 for gripping collision prevention girders also comprises horizontal protective cover and vertical protective cover; Horizontal protective cover cover establishes horizontal linear guide rail and horizontal ball-screw; Vertical protective cover cover establishes vertical line guide rail and vertical ball-screw.Horizontal protective cover and vertical protective cover can effectively prevent dust and chip from entering horizontal linear guide rail and horizontal ball-screw, vertical line guide rail and vertical ball-screw, guarantee the whole kinematic accuracy of turning manipulator 100 for gripping collision prevention girders and the reliability of work.
Turning manipulator 100 for gripping collision prevention girders of the present invention also comprises drag chain 160, cable and the pipeline of the whole turning manipulator 100 for gripping collision prevention girders are all arranged in drag chain 160, prevent horizontal movement assembly 110, vertical motion assemblies 120 and upset assembly 130 from can prevent cable and pipeline from wearing and tearing and being wound around when moving, prevent cable and conduit failure, and then ensure that turning manipulator 100 sports safety being used for gripping collision prevention girders is reliable.
Turning manipulator 100 for gripping collision prevention girders of the present invention simple and compact for structure, has 4 freedoms of motion, can meet the crawl upset operation of collision prevention girders 200 and like parts well.The horizontal movement of horizontal movement assembly 110, vertical motion assemblies 120 and upset assembly 130, to move both vertically and flip-flop movement realizes respectively by horizontal motor, motor vertical and upset Electric Machine Control, movement and the clamping of gas pawl 131 or unclamp is realized by solenoid control.Turning manipulator 100 for gripping collision prevention girders of the present invention can be widely used in industrial production and manufacture every field, can increase substantially the automaticity of enterprise's production procedure.In addition its structure adopts Modular Flexible architecture design, and follow-up various functions autgmentability is strong, operation and safeguard simple, has wide market application foreground.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.

Claims (10)

1. for a turning manipulator for gripping collision prevention girders, it is characterized in that, comprising:
Horizontal movement assembly, comprises horizontal motor, horizontal conveyor part and horizontal connecting plate, and described horizontal motor drives described driving member to drive described horizontal connecting plate horizontal movement;
Vertical motion assemblies, is installed on described horizontal connecting plate, and described horizontal connecting plate drives described vertical motion assemblies horizontal movement; Described vertical motion assemblies comprises motor vertical, vertical-transmission part and vertical center web, and described motor vertical drives described vertical-transmission part to drive described vertical center web to move both vertically; And
Upset assembly, be installed on described vertical center web, described vertical center web drives described upset assembly to move both vertically; Described upset assembly comprises upset motor and the gas pawl that is oppositely arranged, and the described gas pawl be oppositely arranged can gripping collision prevention girders, and described upset motor drives the described gas pawl upset be oppositely arranged.
2. the turning manipulator for gripping collision prevention girders according to claim 1, is characterized in that, also comprise crossbeam, and described upset assembly is installed on described vertical center web by described crossbeam.
3. the turning manipulator for gripping collision prevention girders according to claim 1, it is characterized in that, described upset assembly also comprises adjustment cylinder, and described adjustment cylinder is connected with described gas pawl, and described adjustment cylinder can adjust the position of described gas pawl to capture or to unclamp described collision prevention girders.
4. the turning manipulator for gripping collision prevention girders according to claim 3, it is characterized in that, described upset assembly also comprises magnetic valve, described magnetic valve is connected with described adjustment cylinder, adjust cylinder described in described solenoid control stretch out or retract, and then position when adjusting the crawl of described gas pawl or unclamp described collision prevention girders.
5. the turning manipulator for gripping collision prevention girders according to claim 4, it is characterized in that, described upset assembly also comprises anticollison block, and described anticollison block is arranged at the lower end of described gas pawl, and described anticollison block can be spacing to the vertical lowering motion of described vertical motion assemblies.
6. the turning manipulator for gripping collision prevention girders according to claim 5, it is characterized in that, described horizontal movement assembly also comprises horizontal level detecting sensor and horizontal supporting plate, described horizontal motor, described horizontal conveyor part and described horizontal level detecting sensor are all installed on described horizontal supporting plate, and described horizontal level detecting sensor can detect the movement position of described horizontal conveyor part;
Described vertical motion assemblies also comprises upright position detecting sensor and vertical support plate, described motor vertical, described vertical-transmission part and described upright position detecting sensor are all installed in described vertical support plate, and described upright position detecting sensor can detect the movement position of described vertical-transmission part;
Described upset assembly also comprises upturned position detecting sensor, and described upturned position detecting sensor is arranged on described crossbeam.
7. the turning manipulator for gripping collision prevention girders according to any one of claim 1 to 6, is characterized in that, described horizontal motor, described motor vertical and described upset motor are the stepper motor with brake.
8. the turning manipulator for gripping collision prevention girders according to claim 7, is characterized in that, described horizontal conveyor part comprises horizontal linear guide rail and horizontal ball-screw;
Described horizontal ball-screw is connected with the output of described horizontal motor, and described horizontal connecting plate is installed on described horizontal linear guide rail, and described horizontal motor drives described horizontal ball-screw to drive described horizontal connecting plate along described horizontal linear guide rail movement;
Described vertical-transmission part comprises vertical line guide rail and vertical ball-screw;
Described vertical ball-screw is connected with the output of described motor vertical, and described vertical center web is installed on described vertical line guide rail, and described motor vertical drives described vertical ball-screw to drive described vertical center web along described vertical line guide rail movement.
9. the turning manipulator for gripping collision prevention girders according to claim 8, is characterized in that, also comprises horizontal protective cover and vertical protective cover;
Described horizontal protective cover cover establishes described horizontal linear guide rail and described horizontal ball-screw;
Described vertical protective cover cover establishes described vertical line guide rail and described vertical ball-screw.
10. the turning manipulator for gripping collision prevention girders according to claim 1, is characterized in that, also comprise base, and described horizontal movement assembly is installed on described base;
And described base aluminum alloy materials is made.
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WO2018183819A3 (en) * 2017-03-30 2018-11-08 Soft Robotics, Inc. Servo-pneumatic control systems for soft robotic actuators

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