CN106514642A - Cylindrical-barrel vertical manipulator with air bag - Google Patents

Cylindrical-barrel vertical manipulator with air bag Download PDF

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Publication number
CN106514642A
CN106514642A CN201611260728.3A CN201611260728A CN106514642A CN 106514642 A CN106514642 A CN 106514642A CN 201611260728 A CN201611260728 A CN 201611260728A CN 106514642 A CN106514642 A CN 106514642A
Authority
CN
China
Prior art keywords
swelling
sleeve
fixed
bar
hinged
Prior art date
Application number
CN201611260728.3A
Other languages
Chinese (zh)
Inventor
吕技选
Original Assignee
天津市双象工程液压件有限责任公司
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 天津市双象工程液压件有限责任公司 filed Critical 天津市双象工程液压件有限责任公司
Priority to CN201611260728.3A priority Critical patent/CN106514642A/en
Publication of CN106514642A publication Critical patent/CN106514642A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0023Gripper surfaces directly activated by a fluid
    • 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

Abstract

The invention relates to a cylindrical-barrel vertical manipulator with an air bag. The cylindrical-barrel vertical manipulator comprises a vertical linear module, a lifting rack, a sleeve, a clamping cylinder, an upper cover body, a lower cover body, upper expanding rods, lower expanding rods and expanding top plates; the vertical linear module comprises a sliding block, the lifting rack is fixed to the sliding block, the sleeve is fixed to the lifting rack, the clamping cylinder is installed on the lifting rack, and a clamping lever is installed in the sleeve in an inserted mode; and the upper cover body is fixed to the sleeve, the lower cover body is fixed to the clamping lever, the upper end of each upper expanding rod is hinged to the upper cover body, the lower end of each upper expanding rod is hinged to the corresponding expanding top plate, the lower end of each lower expanding rod is hinged to the lower cover body, and the upper end of each lower expanding rod is hinged to the corresponding expanding top plate. The cylindrical-barrel vertical manipulator further comprises a baffle, a compression air bag and a air-inflation compressor, the air-inflation compressor is installed on the lifting rack, the baffle is fixed at the lower end of the clamping lever, the compression air bag is connected with the baffle, and the compression air bag communicates with the air-inflation compressor. According to the manipulator, automation of moving of cylindrical barrels is achieved, labor is saved, potential safety hazards are eliminated, and machining efficiency is improved.

Description

A kind of vertical manipulator of the cylindrical tube with air bag
Technical field
The invention belongs to machinery production equipment technical field, more particularly to a kind of cylindrical tube with air bag is vertically mechanical Hand.
Background technology
During hydraulic cylinder is manufactured, need to be transported through the part of cylindrical tube or mobile, prior art In, the transhipment or movement of cylindrical tube are completed by a dead lift, and automaticity is low, wastes time and energy, and there is potential safety hazard.
The content of the invention
Present invention seek to address that in prior art the technical problem of cylindrical tube movement automation low degree and one kind is provided The vertical manipulator of cylindrical tube with air bag.
The present invention is adopted the technical scheme that by solving technical problem present in known technology:A kind of circle with air bag The vertical manipulator of column casing body, it is characterised in that:Including vertical lines module, crane, sleeve pipe, clamping cylinder, upper sleeve body, trap Body, upper swelling bar, lower swelling bar, swelling top board;The vertical lines module includes the slide block that vertically can be moved up and down, described Crane is fixed on the slide block, and described sleeve pipe upper end is fixed on the crane, and the axis vertical of described sleeve pipe is arranged, The clamping cylinder is arranged on the crane, and the clamping cylinder has clamp lever that can be vertically flexible up and down, institute State clamp lever to be inserted in described sleeve pipe, the lower end of the clamp lever is stretched out from the lower end of described sleeve pipe;The upper sleeve body It is fixed in described sleeve pipe, the lower body is fixed in the clamp lever, upper end and the upper set of the upper swelling bar Body is hinged, and lower end and the swelling top board of the upper swelling bar are hinged, and the lower end of the lower swelling bar is cut with scissors with the lower body Connect, the upper end of the lower swelling bar is hinged with the tensioning top board;The upper swelling bar, lower swelling bar and swelling top board constitute one Group swelling element, is provided with swelling element at least described in two groups between the upper sleeve body and the lower body;Also include baffle plate, pressure Contracting air bag, inflation press;The inflation press is arranged on the crane, and the baffle plate is fixed under the clamp lever End, the compressing gasbag are connected with the baffle plate and positioned at the lower section of the baffle plate, the compressing gasbag and the inflation press Connected by tracheae.
The present invention can also adopt following technical measures:
The upper swelling bar and lower swelling bar are made up of two split bars connected by chute and bearing pin, split described in two Spring is installed between bar.
The present invention has the advantages and positive effects that:
The present invention provides a kind of automatic mechanical hand clamped to cylindrical tube, and this manipulator coordinates displacement mechanical group Part is used, it is possible to achieve the movement to cylindrical tube, realizes the automation of cylindrical tube movement, saves manpower, eliminates safety hidden Suffer from, improve working (machining) efficiency.
Description of the drawings
Fig. 1 is the structural representation of the present invention;
Fig. 2 is the structural representation under handling state of the present invention.
In figure:1st, vertical lines module;2nd, crane;3rd, sleeve pipe;4th, clamping cylinder;4-1, clamp lever;5th, upper sleeve body; 6th, lower body;7th, upper swelling bar;8th, lower swelling bar;9th, swelling top board;10th, baffle plate;11st, compressing gasbag;12nd, inflate press.
Specific embodiment
For the content of the invention, feature and effect of the present invention can be further appreciated that, following examples are hereby enumerated, and coordinates accompanying drawing Describe in detail as follows:
Refer to Fig. 1 and Fig. 2, a kind of vertical manipulator of the cylindrical tube with air bag, including vertical lines module 1, lifting Frame 2, sleeve pipe 3, clamping cylinder 4, upper sleeve body 5, lower body 6, upper swelling bar 7, lower swelling bar 8, swelling top board 9.The vertical straight Line module 1 includes the slide block that vertically can be moved up and down, and the crane 2 is fixed on the slide block, the upper end of described sleeve pipe 3 It is fixed on the crane 2, the axis vertical of described sleeve pipe 3 is arranged, and the clamping cylinder 4 is arranged on the crane 2, The clamping cylinder 4 has clamp lever 4-1 that can be vertically flexible up and down, and clamp lever 4-1 is inserted into described sleeve pipe 3 Interior, the lower end of clamp lever 4-1 is stretched out from the lower end of described sleeve pipe 3.The upper sleeve body 5 is fixed on the upper of described sleeve pipe 3, The lower body 6 is fixed in clamp lever 4-1.The upper end of the upper swelling bar 7 is hinged with the upper sleeve body 5, described The lower end of upper swelling bar 7 is hinged with the swelling top board 9.The lower end of the lower swelling bar 8 is hinged with 6 bodies of trapping, described The upper end of lower swelling bar 8 is hinged with the tensioning top board 9.The upper swelling bar 7, lower swelling bar 8 and swelling top board 9 constitute one group Swelling element, is provided with swelling element at least described in two groups between the upper sleeve body 5 and the lower body 6.
Also include baffle plate 10, compressing gasbag 11, inflation press 12.The inflation press 12 is arranged on the crane 2, The baffle plate 10 is fixed on the lower end of clamp lever 4-1, and the compressing gasbag 11 is connected with the baffle plate 10 and is located at institute The lower section of baffle plate 10 is stated, the compressing gasbag 11 is connected by tracheae with the inflation press 12.
Method of work:
Cylindrical tube axis vertical is placed, and the sleeve pipe 3 of this manipulator is moved to the surface of cylindrical tube, vertical lines mould Group 1 control sleeve pipe 3 move down, until swelling element completely into cylindrical tube on the inside of.Clamping cylinder 4 does retraction work, on The distance between body 5 and lower body 6 diminish, and the swelling top board 9 of swelling element is extended out and final tightly top pressure cylindrical tube Medial surface, realizes the clamping to cylindrical tube with this.After clamping, the control sleeve pipe 3 of vertical lines module 1 moves up certain height Degree, inflation press 12 are inflated into compressing gasbag 11, the protrusion cylindrical tube of compressing gasbag 11 bottom, are played a protective role, are prevented In the case that between swelling component failure or swelling element and cylindrical tube, frictional force is inadequate, cylindrical tube drops.
In the present embodiment, sheet rubber is installed on the lateral surface of swelling top board 9, to increase swelling top board 9 and cylindrical tube Frictional force between medial surface, improves the chucking power of this manipulator.
The upper swelling bar and lower swelling bar are made up of two split bars connected by chute and bearing pin, split described in two Spring is installed between bar.Spring can provide swelling tension force for swelling top board, so as to ensure that swelling element begins in this manipulator There is enough tension forces eventually.

Claims (2)

1. the vertical manipulator of a kind of cylindrical tube with air bag, it is characterised in that:Including vertical lines module (1), crane (2), sleeve pipe (3), clamping cylinder (4), upper sleeve body (5), lower body (6), upper swelling bar (7), lower swelling bar (8), swelling top board (9);
The vertical lines module (1) includes the slide block that vertically can be moved up and down, and the crane (2) is fixed on the slide block On, the upper end of described sleeve pipe (3) is fixed on the crane (2), and the axis vertical of described sleeve pipe (3) is arranged, the clamping , on the crane (2), the clamping cylinder (4) is with the clamp lever (4- that vertically can be stretched up and down for cylinder (4) 1), the clamp lever (4-1) is inserted in described sleeve pipe (3), and the lower end of the clamp lever (4-1) is from described sleeve pipe (3) Lower end stretch out;The upper sleeve body (4) is fixed in described sleeve pipe (3), and the lower body (5) is fixed on the clamp lever (4-1), on, the upper end of the upper swelling bar (7) is hinged with the upper sleeve body (5), the lower end of the upper swelling bar (7) with it is described Swelling top board (9) is hinged, and the lower end of the lower swelling bar (8) is hinged with the lower body (6), the lower swelling bar (8) it is upper End is hinged with tensioning top board (9);The upper swelling bar (7), lower swelling bar (8) and swelling top board (9) constitute one group of swelling Element, is provided with swelling element at least described in two groups between the upper sleeve body (5) and the lower body (6);
Also include baffle plate (10), compressing gasbag (11), inflation press (12);
On the crane (2), the baffle plate (10) is fixed on the clamp lever (4-1) to inflation press (12) Lower end, the compressing gasbag (11) be connected with the baffle plate (10) and be located at the baffle plate (10) lower section, the compressed gas Capsule (11) is connected by tracheae with inflation press (12).
2. the vertical manipulator of the cylindrical tube with air bag according to claim 1, it is characterised in that:The upper swelling bar (7) it is made up of two split bars connected by chute and bearing pin with lower swelling bar (8), described in two, bullet is installed between split bar Spring.
CN201611260728.3A 2016-12-30 2016-12-30 Cylindrical-barrel vertical manipulator with air bag CN106514642A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611260728.3A CN106514642A (en) 2016-12-30 2016-12-30 Cylindrical-barrel vertical manipulator with air bag

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611260728.3A CN106514642A (en) 2016-12-30 2016-12-30 Cylindrical-barrel vertical manipulator with air bag

Publications (1)

Publication Number Publication Date
CN106514642A true CN106514642A (en) 2017-03-22

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611260728.3A CN106514642A (en) 2016-12-30 2016-12-30 Cylindrical-barrel vertical manipulator with air bag

Country Status (1)

Country Link
CN (1) CN106514642A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107139005A (en) * 2017-05-19 2017-09-08 常州轻工职业技术学院 Lathe grabbing device
CN107243916A (en) * 2017-07-08 2017-10-13 佛山市正略信息科技有限公司 A kind of mechanical paw of tubular
CN108890458A (en) * 2018-07-18 2018-11-27 重庆双龙机械配件有限公司 Motorcycle accessories processing unit (plant)
CN111039159A (en) * 2019-12-30 2020-04-21 肇庆国耀精密机械制造有限公司 Engine cylinder body carrying paw with self-adjusting function

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3400967A (en) * 1966-05-26 1968-09-10 Continental Gummi Werke Ag Gripper for hoisting equipment
JPS52105461A (en) * 1976-02-27 1977-09-03 Matsushita Electric Works Ltd Article grasping device
JPH06206622A (en) * 1993-01-11 1994-07-26 Inax Corp Transfer device and transfer method
CN2400423Y (en) * 1999-11-30 2000-10-11 林爱国 Internal bearing hoisting device
CN203284064U (en) * 2013-05-22 2013-11-13 武汉钢铁集团精鼎工业炉有限责任公司 Special hoisting tool for circular tubular products
CN106182049A (en) * 2016-07-28 2016-12-07 昆山邦泰汽车零部件制造有限公司 A kind of operation arm of carrier vehicle wheel hub mechanical hand

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3400967A (en) * 1966-05-26 1968-09-10 Continental Gummi Werke Ag Gripper for hoisting equipment
JPS52105461A (en) * 1976-02-27 1977-09-03 Matsushita Electric Works Ltd Article grasping device
JPH06206622A (en) * 1993-01-11 1994-07-26 Inax Corp Transfer device and transfer method
CN2400423Y (en) * 1999-11-30 2000-10-11 林爱国 Internal bearing hoisting device
CN203284064U (en) * 2013-05-22 2013-11-13 武汉钢铁集团精鼎工业炉有限责任公司 Special hoisting tool for circular tubular products
CN106182049A (en) * 2016-07-28 2016-12-07 昆山邦泰汽车零部件制造有限公司 A kind of operation arm of carrier vehicle wheel hub mechanical hand

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107139005A (en) * 2017-05-19 2017-09-08 常州轻工职业技术学院 Lathe grabbing device
CN107243916A (en) * 2017-07-08 2017-10-13 佛山市正略信息科技有限公司 A kind of mechanical paw of tubular
CN107243916B (en) * 2017-07-08 2019-09-17 马鞍山市新桥工业设计有限公司 A kind of mechanical paw of tubular
CN108890458A (en) * 2018-07-18 2018-11-27 重庆双龙机械配件有限公司 Motorcycle accessories processing unit (plant)
CN111039159A (en) * 2019-12-30 2020-04-21 肇庆国耀精密机械制造有限公司 Engine cylinder body carrying paw with self-adjusting function

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Application publication date: 20170322

RJ01 Rejection of invention patent application after publication