CN105643610A - Pneumatic carrying manipulator of assembly unit of production line - Google Patents
Pneumatic carrying manipulator of assembly unit of production line Download PDFInfo
- Publication number
- CN105643610A CN105643610A CN201410639342.8A CN201410639342A CN105643610A CN 105643610 A CN105643610 A CN 105643610A CN 201410639342 A CN201410639342 A CN 201410639342A CN 105643610 A CN105643610 A CN 105643610A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- control
- manipulator
- production line
- mechanical manipulator
- 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
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a pneumatic carrying manipulator of an assembly unit of a production line. The pneumatic carrying manipulator is mainly composed of a base, a big arm rotation cylinder, a small arm horizontal movement cylinder, a guiding device, a big arm vertical movement cylinder, a wrist swing cylinder, a finger clamping cylinder and clamping type fingers. According to the pneumatic carrying manipulator, pneumatic transmission is adopted, motion is rapid, responses are sensitive, overload protection can be realized, and automatic control is convenient; the working environmental adaptability is good, and environmental pollution is avoided; PLC control is adopted, the reliability is high, and a program can be changed flexibly; time control or travel control or mixed control can be realized by setting the PLC program; the program can be modified according to the motion sequence of the manipulator, so that the universality of the manipulator is higher.
Description
Technical field
The present invention relates to a kind of conveying robot, especially relate to a kind of pneumatic conveying robot of production line assembled unit.
Background technology
In recent years, mechanical manipulator obtains in automatic field and applies more and more widely. Compared with the mechanical manipulator of other types, Pneumatic manipulator has that structure is simple, cost is lower, be easy to control, feature easy to maintenance. But the stroke that current this kind of used nonstandard Pneumatic mechanical hand can adapt to is fixing, namely the job requirement of different stroke can not be applicable to a mechanical manipulator, and the cylinder cylinder of the cylinder of the Pneumatic mechanical hand used at present is all fixed on pedestal, it is also unique for installing position, during work, it is generally that the cylinder cylinder of cylinder does not move, piston rod drives movable stand to move, so just make mechanical manipulator also take bigger space idle time, nor it is beneficial to the composition optimizes of automatic equipment.
Summary of the invention
The present invention provides a kind of pneumatic conveying robot of production line assembled unit, and mainly for the minicomponent produced, this mechanical manipulator both may be used for carrying small-sized part, it is possible to for teaching, experiment. Adopt PLC control, there is reliability height, change program flexible. No matter carry out time controling or Stroke Control or mixture control, all realize by setting PLC program, it is possible to according to the sequence of operation update routine of mechanical manipulator, make the versatility of mechanical manipulator stronger.
The technical solution adopted in the present invention is:
The overall structure of the present invention comprises: base, large arm revolution cylinder, forearm horizontal moving cylinder, liner, large arm vertically move cylinder, wrist swinging cylinder, grip finger cylinder and clipping finger.
Described mechanical manipulator adopts cylindrical coordinate formula, each cylinder makes corresponding mechanical manipulator have 3 degree of freedom (fingers opening-closing is not counted in number of degrees of freedom), in order to make up the less shortcoming of up-and-down movement stroke, increase arms swing mechanism, thus the degree of freedom swung about increasing an arm. The constraint of 4 each joints of degree of freedom and liner, makes each cylinder only bear the power in oneself force direction or moment, thus ensure that life-span of cylinder, precision and reliability.
Flexible pipe is divided into several sections by described mechanical manipulator point of fixity, is fixed by flexible pipe on each point, has 1 or 2 cylinder in every section. When cylinder moving, the spacing of two point of fixity is also changing, time the total length of this section of flexible pipe is longer than 2 maximum spacings during connection, so that it may meet the flexible requirement of tracheae during motion.Each tracheae and each magnetic switching line are banded together after determining by tracheae trend, reduce the interference of flexible pipe and other objects.
Described mechanical manipulator manipulator behavior is controlled by air cylinder driven, PLC. Adopt 5 two-control type three position four-way electromagnetic valves gentle motor of control cylinder respectively, magnetic valve is as the master control valve driving cylinder, use PLC sequence of control actions, first input, output signal is determined, pass through control PLC, make magnetic valve by certain train excitation, thus mechanical manipulator is worked by prearranged action sequence. If it is desired to change the action of mechanical manipulator, do not need to change wiring, only need action code and order in change control program.
Described mechanical manipulator can realize single step, continuous movement two kinds of mode of operation under PLC control. In addition, after workpiece has been carried by mechanical manipulator, for meeting continuous movement needs, it is necessary to fell origin position by another workpiece, need for carrying next time. After system energization, select to be that single action or company are dynamic by rotating button.
The invention has the beneficial effects as follows: adopt pneumatic transmission, action is rapid, reacts sensitive, can realize overload protection, is convenient to automatic control. Working environment adaptability is good, does not pollute the environment. Adopt PLC control, there is reliability height, change program flexible. No matter carry out time controling or Stroke Control or mixture control, all realize by setting PLC program, it is possible to according to the sequence of operation update routine of mechanical manipulator, make the versatility of mechanical manipulator stronger.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the pneumatic conveying robot overall construction drawing of the present invention.
Fig. 2 is the pneumatic system loop figure of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
Such as Fig. 1, mechanical manipulator vertically moves cylinder 5, wrist swinging cylinder 6, grip finger cylinder 7 and clipping finger 8 form primarily of base 1, large arm revolution cylinder 2, forearm horizontal moving cylinder 3, liner 4, large arm.
Such as Fig. 1, mechanical manipulator adopts cylindrical coordinate formula, and each cylinder makes corresponding mechanical manipulator have 3 degree of freedom (fingers opening-closing is not counted in number of degrees of freedom), in order to make up the less shortcoming of up-and-down movement stroke, increase arms swing mechanism, thus the degree of freedom swung about increasing an arm. The constraint of 4 each joints of degree of freedom and liner, makes each cylinder only bear the power in oneself force direction or moment, thus ensure that life-span of cylinder, precision and reliability.
If Fig. 2, A are the pinion and-rack cylinder that control large arm rotates, transform linear motion is made to be the rotary motion of arm; B controls large arm cylinder lifting up and down; C be control forearm about motion cylinder; D is the motor of control wrist swinging; E is that the cylinder opening and firmly grasping is pointed in control. The speed governing of each topworks, every venting port throttle style that can adopt, all installs throttle screw at the venting port of magnetic valve and carries out speed governing, and this kind of method structure is simple, effective. Lift cylinder B adopts the one-way throttle valve of air inlet restriction to regulate the lift velocity of arm.
Such as Fig. 2, this design adopts the 5 two-control type three position four-way electromagnetic valves gentle motor of control cylinder respectively, makes mechanical manipulator complete above-mentioned various action. Magnetic valve is as the master control valve driving cylinder, use PLC sequence of control actions, first input, output signal is determined, input signal shown in Fig. 2 is signal A1, A0, B1, B0, C1, C0, D1, D0, E1, E0 that travel switch sends, and outputs signal signal 1DT, 2DT, 3DT, 4DT, 5DT, 6DT, 7DT, 8DT, 9DT, the 10DT into driving magnetic valve.By control PLC, make magnetic valve by certain train excitation, thus mechanical manipulator is worked by prearranged action sequence. If it is desired to change the action of mechanical manipulator, do not need to change wiring, only need action code and order in change control program.
Claims (4)
1. the pneumatic conveying robot of production line assembled unit, is characterized in that: vertically moved cylinder 5, wrist swinging cylinder 6, grip finger cylinder 7 and clipping finger 8 formed by base 1, large arm revolution cylinder 2, forearm horizontal moving cylinder 3, liner 4, large arm.
2. a kind of pneumatic conveying robot of production line assembled unit according to claim 1, it is characterized in that: described mechanical manipulator adopts cylindrical coordinate formula, each cylinder makes corresponding mechanical manipulator have 3 degree of freedom (fingers opening-closing is not counted in number of degrees of freedom), in order to make up the less shortcoming of up-and-down movement stroke, increase arms swing mechanism, thus the degree of freedom swung about increasing an arm; The constraint of 4 each joints of degree of freedom and liner, makes each cylinder only bear the power in oneself force direction or moment, thus ensure that life-span of cylinder, precision and reliability.
3. a kind of pneumatic conveying robot of production line assembled unit according to claim 1, is characterized in that: flexible pipe is divided into several sections by described mechanical manipulator point of fixity, is fixed by flexible pipe on each point, has 1 or 2 cylinder in every section; When cylinder moving, the spacing of two point of fixity is also changing, time the total length of this section of flexible pipe is longer than 2 maximum spacings during connection, so that it may meet the flexible requirement of tracheae during motion; Each tracheae and each magnetic switching line are banded together after determining by tracheae trend, reduce the interference of flexible pipe and other objects.
4. a kind of pneumatic conveying robot of production line assembled unit according to claim 1, is characterized in that: described mechanical manipulator manipulator behavior is controlled by air cylinder driven, PLC; Adopting 5 two-control type three position four-way electromagnetic valves gentle motor of control cylinder respectively, magnetic valve, as the master control valve driving cylinder, uses PLC sequence of control actions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410639342.8A CN105643610A (en) | 2014-11-14 | 2014-11-14 | Pneumatic carrying manipulator of assembly unit of production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410639342.8A CN105643610A (en) | 2014-11-14 | 2014-11-14 | Pneumatic carrying manipulator of assembly unit of production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105643610A true CN105643610A (en) | 2016-06-08 |
Family
ID=56478607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410639342.8A Pending CN105643610A (en) | 2014-11-14 | 2014-11-14 | Pneumatic carrying manipulator of assembly unit of production line |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105643610A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107803826A (en) * | 2017-12-01 | 2018-03-16 | 王冬冬 | Cylindrical type manipulator |
| CN108569091A (en) * | 2017-03-13 | 2018-09-25 | 科维（营口）工业有限公司 | A kind of mechanical arm control gas circuit and tire changer |
| CN109531003A (en) * | 2018-12-06 | 2019-03-29 | 沈阳建筑大学 | A kind of full Pneumatic welder device people |
| CN110053038A (en) * | 2019-05-22 | 2019-07-26 | 吴正义 | Novel universal gas-liquid robot |
| CN112222000A (en) * | 2020-09-17 | 2021-01-15 | 泸州市市场检验检测中心 | Glass bottle full-mouth capacity and flaw detection device |
| CN112605161A (en) * | 2021-01-05 | 2021-04-06 | 太原科技大学 | Automatic base plate placing device and wide and thick plate pressure leveling method based on same |
| CN115971745A (en) * | 2023-03-21 | 2023-04-18 | 广州中设机器人智能装备股份有限公司 | Welding is supplementary to be got and carrying device with riser clamp |
-
2014
- 2014-11-14 CN CN201410639342.8A patent/CN105643610A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108569091A (en) * | 2017-03-13 | 2018-09-25 | 科维（营口）工业有限公司 | A kind of mechanical arm control gas circuit and tire changer |
| CN108569091B (en) * | 2017-03-13 | 2020-05-29 | 科维（营口）工业有限公司 | Mechanical arm control gas circuit and tire dismounting machine |
| CN107803826A (en) * | 2017-12-01 | 2018-03-16 | 王冬冬 | Cylindrical type manipulator |
| CN109531003A (en) * | 2018-12-06 | 2019-03-29 | 沈阳建筑大学 | A kind of full Pneumatic welder device people |
| CN110053038A (en) * | 2019-05-22 | 2019-07-26 | 吴正义 | Novel universal gas-liquid robot |
| CN112222000A (en) * | 2020-09-17 | 2021-01-15 | 泸州市市场检验检测中心 | Glass bottle full-mouth capacity and flaw detection device |
| CN112605161A (en) * | 2021-01-05 | 2021-04-06 | 太原科技大学 | Automatic base plate placing device and wide and thick plate pressure leveling method based on same |
| CN115971745A (en) * | 2023-03-21 | 2023-04-18 | 广州中设机器人智能装备股份有限公司 | Welding is supplementary to be got and carrying device with riser clamp |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105643610A (en) | Pneumatic carrying manipulator of assembly unit of production line | |
| CN203697032U (en) | Multi-degree-of-freedom precision manipulator | |
| CN204997665U (en) | Four degree of freedom low pressure electric appliances transfer robots | |
| CN204172029U (en) | Servo-controlled three-freedom degree precision manipulator | |
| CN207682389U (en) | A kind of transportation manipulator | |
| CN203712722U (en) | Three-freedom-degree mechanical hand | |
| CN204546554U (en) | The step-by-step movement press hand system of resilient clamp | |
| CN205600756U (en) | Optic platform snatchs manipulator | |
| CN103786149A (en) | Simple two-freedom-degree mechanical arm | |
| CN205148328U (en) | High efficiency double arm robot | |
| CN204997674U (en) | Three degree of freedom servo manipulators of transport circuit breaker | |
| CN203765606U (en) | Cartesian coordinate system-type four degree-of-freedom mechanical hand | |
| CN109807876A (en) | A kind of transportation manipulator | |
| CN104149096A (en) | Delta structured parallel manipulator capable of moving precisely and three-dimensionally | |
| CN103273483A (en) | Cam mechanical arm with adjustable stroke | |
| CN204076257U (en) | Four-degree-of-freedom precision optical machinery hand | |
| CN106541387A (en) | A kind of novel pneumatic conveying robot | |
| CN203901298U (en) | Mechanical arm structure of robot | |
| CN105127981A (en) | Three-freedom-degree transfer robot with movable support | |
| CN208132999U (en) | A kind of manipulator grabbing device | |
| CN203712697U (en) | Linear moving manipulator | |
| CN203712696U (en) | Two-degree-of-freedom linear manipulator | |
| CN209831628U (en) | Human-machine cooperation robot | |
| CN204054063U (en) | A kind of can the Delta structure parallel manipulator of precision three-dimensional movement | |
| CN107932477B (en) | Space full-freedom metamorphic mechanism type stacking robot mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160608 |