CN105666219A

CN105666219A - Pneumatic tool-replacing manipulator

Info

Publication number: CN105666219A
Application number: CN201410646599.6A
Authority: CN
Inventors: 张桂春
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-11-16
Filing date: 2014-11-16
Publication date: 2016-06-15

Abstract

The invention discloses a pneumatic tool-replacing manipulator. The pneumatic tool-replacing manipulator is mainly composed of an arm swinging air cylinder A, a lifting air cylinder B, a telescopic air cylinder C, a wrist swinging air cylinder D, a pneumatic grasper E, a base 1, an arm joint 2, a wrist joint 3, guide devices 4 and positioning stop blocks 5. A pneumatic transmission mode is adopted, so that the pneumatic tool-replacing manipulator is rapid in action, sensitive in response, capable of realizing overload protection and convenient and automatic to control. The pneumatic tool-replacing manipulator has four degrees of freedom, is small in occupied space, large in movement range, simple in structure, convenient to combine and high in positioning accuracy, and meanwhile takes both low cost and high universality into account.

Description

A kind of pneumatic tool-changing mechanical arm

Technical field

The present invention relates to a kind of mechanical manipulator, especially relate to a kind of pneumatic tool-changing mechanical arm being applied to automated workshop.

Background technology

Needs when robot (mechanical manipulator) upgrades as the product in forward position and automatic equipment, it is possible to a large amount of work replacing back and forth dull or high precision to need. In recent years, pneumatic servo system is done a lot of work by various countries, attempts various control mode and control strategy, to reaching the positioning precision of raising system, to improve the positioning precision of robot (mechanical manipulator). Adapting to industry needs, this problem attempts to develop Pneumatic manipulator, with the automatic sorting of the bigger degree of freedom that realizes in multi-functional crawl and multi-assortment production. And when mechanical manipulator is carried out new distribution task by model change or temporary needs, it is possible to allow to change or redesign its new parts easily, and when position is changed, as long as reprogramming, and can go into operation very soon, reduce and install and the expense of conversion work.

The domestic design to Pneumatic manipulator is a lot, but mostly is for the design of a certain specific occasion, specific operating mode. Mechanical manipulator (robot) in an automated workshop is often not several, but the cooperative cooperating of a lot of platform streamline formula, if every platform all to be redesigned just causes unnecessary trouble.

Summary of the invention

The present invention provides a kind of pneumatic tool-changing mechanical arm, and this mechanical manipulator adopts cylindrical coordinate formula, adopts four-degree-of-freedom, and the little scope of activity of floor space is big, and structure is more simply convenient to combination, and positioning precision is higher, has taken into account low cost and high universalizable simultaneously.

The technical solution adopted in the present invention is:

The overall structure of the present invention comprises: arms swing cylinder, lift cylinder, telescopic cylinder, wrist swinging cylinder, gas are grabbed, pedestal, arm joint, wrist hand joint, liner and position block.

Described Manipulator Hand structure directly adopts the standard rotary type gas of SMC to grab, and installs two fingers.

The arm of described mechanical manipulator has four degree of freedom, i.e. flexible, the lifting of forearm of arm, the left and right revolution of column and up-and-down movement.

The flexible of the arm of described mechanical manipulator is translational motion, this module level is installed on column, require that the volume of the cylinder of use is little, weight is light, reduce the rotational inertia to center of turning circle, thus the CQ2 series thin cylinder of SMC is selected, its cylinder cylinder and rodless side end cap are cast into one, and cylinder body is square.

The pedestal of described mechanical manipulator adopts fixed system of landing, and group to be comprised base, oscillating cylinder, bidirectional propulsion ball bearing, button cover and turntable five part. After energising, select to be that single action or company are dynamic by rotating button. Owing to this mechanical manipulator is applied on teaching experiment platform, it is necessary to possess certain versatility, adopt dispersed placement, transmission and control part are separated, so as not to vibrated impact, the work-ing life of prolonged mechanical hand.

The impact that described mechanical manipulator deviation of gravity center column axis own and each cylinder moving produce all forms the upsetting moment acted on oscillating cylinder rotation axis.So adopting a tie-in module, weight more than mechanical manipulator column and upsetting moment are undertaken by frame. This tie-in module forms primarily of four parts: bidirectional propulsion ball bearing, base, turntable and buckle cover, select bidirectional propulsion ball bearing and need not be unidirectional, be because pedestal cannot directly be connected in the axial direction with turntable. Adopting bidirectional propulsion ball bearing just can conveniently be connected with turntable by bearing inner ring, outer shroud button cover is fixed on base. In addition, thrust block to be selected specified size more relatively large, can bear upsetting moment so better.

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. Adopting four-degree-of-freedom, the little scope of activity of floor space is big, and structure is more simply convenient to combination, and positioning precision is higher, has taken into account low cost and high universalizable simultaneously.

Accompanying drawing explanation

Below in conjunction with drawings and Examples, the present invention is further described.

Fig. 1 is the Pneumatic manipulator structure diagram of the present invention.

Fig. 2 is the pedestal structure iron of the present invention.

Fig. 3 is the drive system schematic diagram of the present invention. Wherein, 1,2,3,4,5 it is respectively 25 logical two electric control electromagnetic valves; 6 is gas source processing components; 7 is gas tank.

Embodiment

Below in conjunction with drawings and Examples, the invention will be further described.

Such as Fig. 1, mechanical manipulator is grabbed E, pedestal 1, arm joint 2, wrist hand joint 3, liner 4 and position block 5 form primarily of arms swing cylinder A, lift cylinder B, telescopic cylinder C, wrist swinging cylinder D, gas.

Such as Fig. 1, Manipulator Hand structure directly adopts the standard rotary type gas of SMC to grab, and installs two fingers. The arm of mechanical manipulator has four degree of freedom, i.e. flexible, the lifting of forearm of arm, the left and right revolution of column and up-and-down movement.

Such as Fig. 2, the pedestal of mechanical manipulator adopts fixed system of landing, and group to be comprised base 1, oscillating cylinder 2, bidirectional propulsion ball bearing 3, button cover 4 and turntable 5 five part. After energising, select to be that single action or company are dynamic by rotating button. Owing to this mechanical manipulator is applied on teaching experiment platform, it is necessary to possess certain versatility, adopt dispersed placement, transmission and control part are separated, so as not to vibrated impact, the work-ing life of prolonged mechanical hand.

Such as Fig. 2, the impact that mechanical manipulator deviation of gravity center column axis own and each cylinder moving produce all forms the upsetting moment acted on oscillating cylinder rotation axis. So adopting a tie-in module, weight more than mechanical manipulator column and upsetting moment are undertaken by frame. This tie-in module forms primarily of four parts: bidirectional propulsion ball bearing 3, base 1, turntable 5 and buckle cover 4, select bidirectional propulsion ball bearing 3 and need not be unidirectional, be because pedestal 1 cannot directly be connected in the axial direction with turntable 5. Adopting bidirectional propulsion ball bearing 3 just can conveniently be connected with turntable 5 by bearing inner ring, outer shroud button cover is fixed on base.

Such as Fig. 3, the direction controlling of each power element all adopts 2 the 5 two electric control electromagnetic reversing valves of logical pilot-operated type, and commutation signal is short pulse signal. Speed control method all adopts outlet throttle timing loop, by regulating the openings of sizes of one-way throttle valve to carry out speed setting.

Claims

1. a pneumatic tool-changing mechanical arm, is characterized in that: mechanical manipulator is grabbed E, pedestal 1, arm joint 2, wrist hand joint 3, liner 4 and position block 5 form primarily of arms swing cylinder A, lift cylinder B, telescopic cylinder C, wrist swinging cylinder D, gas.

2. the pneumatic tool-changing mechanical arm of one according to claim 1, is characterized in that: described Manipulator Hand structure directly adopts the standard rotary type gas of SMC to grab, and installs two fingers.

3. the pneumatic tool-changing mechanical arm of one according to claim 1, is characterized in that: the pedestal of described mechanical manipulator adopts fixed system of landing, and group to be comprised base 1, oscillating cylinder 2, bidirectional propulsion ball bearing 3, button cover 4 and turntable 5 five part; After energising, select to be that single action or company are dynamic by rotating button.

4. the pneumatic tool-changing mechanical arm of one according to claim 1, is characterized in that: described mechanical manipulator adopts a tie-in module, weight more than mechanical manipulator column and upsetting moment is undertaken by frame; This tie-in module forms primarily of four parts: bidirectional propulsion ball bearing 3, base 1, turntable 5 and buckle cover 4, select bidirectional propulsion ball bearing 3 and need not be unidirectional.

5. the pneumatic tool-changing mechanical arm of one according to claim 1, is characterized in that: the direction controlling of each power element of described mechanical manipulator all adopts 2 the 5 two electric control electromagnetic reversing valves of logical pilot-operated type, and commutation signal is short pulse signal; Speed control method all adopts outlet throttle timing loop, by regulating the openings of sizes of one-way throttle valve to carry out speed setting.