CN106078708A - Power-assisted parallel manipulator device - Google Patents
Power-assisted parallel manipulator device Download PDFInfo
- Publication number
- CN106078708A CN106078708A CN201610494200.6A CN201610494200A CN106078708A CN 106078708 A CN106078708 A CN 106078708A CN 201610494200 A CN201610494200 A CN 201610494200A CN 106078708 A CN106078708 A CN 106078708A
- Authority
- CN
- China
- Prior art keywords
- connector
- power
- manipulator device
- parallel manipulator
- fixture
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/045—Polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
Abstract
The open a kind of power-assisted parallel manipulator device of the present invention, including column, connector, mechanical arm and fixture；Connector can be rotatably set on described column；Supported by described connector near one end of mechanical arm and limit, with described connector as fulcrum, carry out lever lifting；Described fixture is rotatably arranged in the described mechanical arm other end.This novel power-assisted parallel manipulator device, simple in construction, ingredient is few, and cost is low, and industrial repeated labor is greatly reduced, and can raise labour productivity again simultaneously, reduces enterprise's production cost, increases enterprise income.
Description
Technical field
The present invention relates to a kind of power-assisted parallel manipulator device, belong to field of mechanical technique.
Background technology
In recent years, the application of pneumatics is widened rapidly, especially obtains on various automatic production lines extensively
Application.Today that, human resources the most surging in human cost is day by day deficient, common artificial loading, blanking, workman works by force
Degree is big, and efficiency is low, fatiguability, and potential safety hazard is big, mechanical hand is applied to automatic industrial manufacturing line so that operator can be very
Realize easily workpiece carrying, position, the operation such as assembling.
Summary of the invention
Present invention aim at providing a kind of power-assisted parallel manipulator device, main purpose is to reduce hand labor intensity,
Improve production efficiency, increase enterprise income.
The present invention adopts the technical scheme that:
A kind of power-assisted parallel manipulator device, is characterized in that, including column, connector, mechanical arm and fixture；
Described connector can be rotatably set on described column；
Supported by described connector near one end of mechanical arm and limit, with described connector as fulcrum, carry out lever lifting；
Described fixture is rotatably arranged in the described mechanical arm other end.
The end of one end of described mechanical arm is connected with lift cylinder piston rod, lift cylinder drive and do around connector
Lever motion.
Also fixing on described connector and connect a bent plate, bent plate is for fixing the cylinder body of lift cylinder.
Described connector is connected with column by the first swivel bearing, makes connector can rotate around column.
It is provided with tension cylinder on described fixture, is opened by the extension and contraction control fixture of tension cylinder or clamped.
Both sides adjacent on described fixture are respectively arranged with handrail and control tension cylinder or the button of lift cylinder action.
Described mechanical arm includes crane arm and the forearm linked together through the second swivel bearing；
Supported by connector near one end of crane arm and limit；The other end of crane arm is through the second swivel bearing with forearm one end even
Connecing, the other end of forearm connects described fixture.
The other end of described forearm is connected with described fixture by pneumostop bearing.
The beneficial effect that the present invention is reached:
Power-assisted parallel manipulator device of the present invention, simple in construction, control system by the sophisticated design in structure and addition gas circuit
System, the most instant packed transport, in-site installation, later stage maintenance, and allow operating process is laborsaving, save time, efficiently, accurately, safety,
Prevent maloperation from the person or workpiece being damaged, industrial repeated labor is greatly reduced, promote work efficiency, joint
Save labor costs, increase Business Economic Benefit.
Accompanying drawing explanation
Fig. 1 is that power-assisted parallel manipulator device lifts schematic diagram；
Fig. 2 is that power-assisted parallel manipulator device declines schematic diagram；
In figure, 1, column 2, crane arm 3, forearm 4, connector 5, lift cylinder 6, control knob 7, bent plate 8, pneumatic
Seal bearing 9, swivel bearing I 10, tension cylinder 11, fixture 12, handrail 13, workpiece 14, base 15, swivel bearing
Ⅱ。
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.Following example are only used for clearly illustrating the present invention
Technical scheme, and can not limit the scope of the invention with this.
Power-assisted parallel manipulator device such as Fig. 1 and Fig. 2 of the present invention, this device passes through base 14 vertical columns 1, connector 4
It is connected with column 1 by swivel bearing I 9, makes connector 4 can rotate around column 1；Crane arm 2 near end by connector 4
Support limits, connector 4 form the fulcrum of crane arm 2, and crane arm 2 end is connected with lift cylinder 5 piston rod, bent plate 7 one end
Fixing with connector 4, the other end fixes the cylinder body of lift cylinder 5, lift cylinder 5 drive crane arm 2 end around fulcrum liter
Or fall, make crane arm 2 other end drive forearm 3 to decline or lift action together with fixture 11.The other end of crane arm 2 is by rotation
Rotating shaft is held II 15 and is connected with forearm 3 top, and the end of forearm 3 is connected with fixture 11 by pneumostop bearing 8, each connecting shaft
Hold and all can make 360 ° of rotations along own axes, therefore so that fixture 11 can rotate around forearm 3 end, and forearm 3 can be around lifting
The other end of arm 2 rotates, and connector 4 can rotate around column 1, it is simple to workpiece 13 moves to specify position, facilitates the spirit of workpiece 13
Live and carry.
Tension cylinder 10 is fixed on above fixture 11, by the rate of tension of the extension and contraction control fixture of tension cylinder 10.Control is pressed
Button 6 is separately fixed at, with handrail 12, the both sides that fixture 11 is adjacent, facilitates operator to control workpiece, makes fixture by push-and-pull handrail 12
While 11 translations, control knob 6 can be operated and carry out corresponding action, it is simple to operation and emergency process.
When carrying workpiece 13, action as required can press the corresponding button in control knob 6, workpiece is pressed from both sides
Actions such as holding, carry and unclamp.
Pressing the start button in control knob 6, fixture 11 is moved at workpiece by both hands by push-and-pull handrail 12；
Press the clamping button in control knob 6, strain cylinder 10 action, drive fixture to 11 clamping workpiece；
Press the rising button in control knob 6, lift cylinder 5 action, drive crane arm 2 end to rise, drive forearm 3 and folder
Tool 11 rises together；
Move to specify position by workpiece 13 by push-and-pull handrail 12；
Press the decline button in control knob 6, lift cylinder 5 action, drive crane arm 2 end to decline, drive forearm 3 and folder
Tool 11 drops to specify position together；
Press the release button in control knob 6, strain cylinder 10 action, drive fixture to 11 and unclamp workpiece, by workpiece handling extremely
Specify position.
The action repeating above-mentioned needs completes the circulation carrying of workpiece.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, on the premise of without departing from the technology of the present invention principle, it is also possible to make some improvement and deformation, these improve and deformation
Also should be regarded as protection scope of the present invention.
Claims (8)
1. a power-assisted parallel manipulator device, is characterized in that, including column, connector, mechanical arm and fixture；
Connector can be rotatably set on described column；
Supported by described connector near one end of mechanical arm and limit, with described connector as fulcrum, carry out lever lifting；
Described fixture is rotatably arranged in the described mechanical arm other end.
Power-assisted parallel manipulator device the most according to claim 1, is characterized in that, the end of one end of described mechanical arm
It is connected with lift cylinder piston rod, lift cylinder drives and do lever motion around connector.
Power-assisted parallel manipulator device the most according to claim 2, is characterized in that, described connector is also fixed connection one
Bent plate, bent plate is for fixing the cylinder body of lift cylinder.
Power-assisted parallel manipulator device the most according to claim 1, is characterized in that, described connector passes through the first rotary shaft
Hold and be connected with column, make connector can rotate around column.
Power-assisted parallel manipulator device the most according to claim 1, is characterized in that, described fixture is provided with tension gas
Cylinder, is opened by the extension and contraction control fixture of tension cylinder or is clamped.
6., according to the power-assisted parallel manipulator device described in claim 2 or 5, it is characterized in that, both sides adjacent on described fixture
It is respectively arranged with handrail and controls tension cylinder or the button of lift cylinder action.
Power-assisted parallel manipulator device the most according to claim 1, is characterized in that, described mechanical arm includes through the second rotation
The crane arm and forearm linked together is held in rotating shaft；
Supported by connector near one end of crane arm and limit；The other end of crane arm is through the second swivel bearing with forearm one end even
Connecing, the other end of forearm connects described fixture.
Power-assisted parallel manipulator device the most according to claim 7, is characterized in that, the other end of described forearm is by pneumatic
Seal bearing to be connected with described fixture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610494200.6A CN106078708A (en) | 2016-06-30 | 2016-06-30 | Power-assisted parallel manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610494200.6A CN106078708A (en) | 2016-06-30 | 2016-06-30 | Power-assisted parallel manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106078708A true CN106078708A (en) | 2016-11-09 |
Family
ID=57214759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610494200.6A Pending CN106078708A (en) | 2016-06-30 | 2016-06-30 | Power-assisted parallel manipulator device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106078708A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527356A (en) * | 2018-06-06 | 2018-09-14 | 重庆卓工科技有限公司 | A kind of adobe chucking device |
| CN109176486A (en) * | 2018-11-08 | 2019-01-11 | 江苏昱博自动化设备有限公司 | A kind of boosting manipulator |
| CN109175996A (en) * | 2018-09-11 | 2019-01-11 | 中车广东轨道交通车辆有限公司 | A kind of intelligence equipment for motor-car assembling |
| CN114474032A (en) * | 2022-01-17 | 2022-05-13 | 上海万林机械制造有限公司 | Walk wall type folding manipulator |
Citations (8)
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| CN203485206U (en) * | 2013-08-13 | 2014-03-19 | 无锡骐泽机械科技有限公司 | Power assisting manipulator |
| CN203843841U (en) * | 2013-12-20 | 2014-09-24 | 蓝姆汽车焊接设备(上海)有限公司 | Flexible mechanical power assisting arm |
| CN104227696A (en) * | 2013-06-20 | 2014-12-24 | 盐城市昱博自动化设备有限公司 | Constant pressure control assisted manipulator |
| JP2015024462A (en) * | 2013-07-25 | 2015-02-05 | 株式会社Ihi | Method and device for control of robotic hand |
| CN204248331U (en) * | 2014-09-03 | 2015-04-08 | 山东科技大学 | Novel power assisting manipulator |
| CN205021589U (en) * | 2015-09-11 | 2016-02-10 | 长春工业大学 | Portable many joints helping hand manipulator |
| CN205310265U (en) * | 2016-01-04 | 2016-06-15 | 石家庄爱驰自动化设备有限公司 | Work piece unloading helping hand manipulator |
| CN205870523U (en) * | 2016-06-30 | 2017-01-11 | 苏州勤堡精密机械有限公司 | Helping hand parallel winding hand device |
-
2016
- 2016-06-30 CN CN201610494200.6A patent/CN106078708A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227696A (en) * | 2013-06-20 | 2014-12-24 | 盐城市昱博自动化设备有限公司 | Constant pressure control assisted manipulator |
| JP2015024462A (en) * | 2013-07-25 | 2015-02-05 | 株式会社Ihi | Method and device for control of robotic hand |
| CN203485206U (en) * | 2013-08-13 | 2014-03-19 | 无锡骐泽机械科技有限公司 | Power assisting manipulator |
| CN203843841U (en) * | 2013-12-20 | 2014-09-24 | 蓝姆汽车焊接设备(上海)有限公司 | Flexible mechanical power assisting arm |
| CN204248331U (en) * | 2014-09-03 | 2015-04-08 | 山东科技大学 | Novel power assisting manipulator |
| CN205021589U (en) * | 2015-09-11 | 2016-02-10 | 长春工业大学 | Portable many joints helping hand manipulator |
| CN205310265U (en) * | 2016-01-04 | 2016-06-15 | 石家庄爱驰自动化设备有限公司 | Work piece unloading helping hand manipulator |
| CN205870523U (en) * | 2016-06-30 | 2017-01-11 | 苏州勤堡精密机械有限公司 | Helping hand parallel winding hand device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527356A (en) * | 2018-06-06 | 2018-09-14 | 重庆卓工科技有限公司 | A kind of adobe chucking device |
| CN109175996A (en) * | 2018-09-11 | 2019-01-11 | 中车广东轨道交通车辆有限公司 | A kind of intelligence equipment for motor-car assembling |
| CN109176486A (en) * | 2018-11-08 | 2019-01-11 | 江苏昱博自动化设备有限公司 | A kind of boosting manipulator |
| CN114474032A (en) * | 2022-01-17 | 2022-05-13 | 上海万林机械制造有限公司 | Walk wall type folding manipulator |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161109 |
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| RJ01 | Rejection of invention patent application after publication |