CN106553186A - A kind of Pneumatic Manipulator - Google Patents

A kind of Pneumatic Manipulator Download PDF

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Publication number
CN106553186A
CN106553186A CN201510615305.8A CN201510615305A CN106553186A CN 106553186 A CN106553186 A CN 106553186A CN 201510615305 A CN201510615305 A CN 201510615305A CN 106553186 A CN106553186 A CN 106553186A
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CN
China
Prior art keywords
pneumatic manipulator
hand
wrist
cylinder
arm
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Pending
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CN201510615305.8A
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Chinese (zh)
Inventor
褚秀清
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褚秀清
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Priority to CN201510615305.8A priority Critical patent/CN106553186A/en
Publication of CN106553186A publication Critical patent/CN106553186A/en
Pending legal-status Critical Current

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Abstract

A kind of Pneumatic Manipulator, its structure are mainly made up of five parts, are base, arm, hand structure, column and wrist respectively.The simulation of staff action can be completed, and possesses the advantages such as be swift in motion, the suitability is good, reaction is fast, stability is high, will not be affected by environment easily, and cisco unity malfunction.During use, leakage situation is not obvious, and the pollution to environment is not high, and pneumatic carrying implement is controlled using PLC programmings, and production reliability is high, and with very high motility, versatility is high.

Description

A kind of Pneumatic Manipulator
Technical field
The present invention relates to a kind of mechanical hand, particularly a kind of Pneumatic Manipulator.
Background technology
Mechanical hand can be imitated to the function of the handss of people and arm, and the carrying to object and crawl can be realized according to fixed program, belong to one kind of Mechatronic device.Pneumatic Manipulator comes into operation, substantially reduce the life stress and the amount of labour of people, substantially increase the gentle Mechanization Level of Automated water in production activity, the industries such as machinery manufacturing industry, electronics, metallurgy, atomic energy and light industry in China are obtained a wide range of applications, and the personal safety of staff has been effectively ensured.Pneumatic Manipulator realizes work by the compression to air, possesses various advantages, such as light, environmentally friendly, energy-conservation, be swift in motion, using relatively broad.
The content of the invention
The present invention proposes a kind of Pneumatic Manipulator, can complete the simulation of staff action, and possesses the advantages such as be swift in motion, the suitability is good, reaction is fast, and stability is high, will not be affected by environment easily, and cisco unity malfunction.During use, leakage situation is not obvious, and the pollution to environment is not high, and pneumatic carrying implement is controlled using PLC programmings, and production reliability is high, and with very high motility, versatility is high.
The technical solution adopted in the present invention is:
During the wrist design of the Pneumatic Manipulator, the part between hand and arm is exactly wrist, for adjusting hand motion, to meet the needs for imitating staff action.Under normal circumstances, Pneumatic Manipulator all possesses very high versatility, because the workpiece in mechanical hand is all horizontal positioned, therefore needs to use revolving structure during wrist design, and single blade rotary cylinder is used, to meet the needs of the most basic action of mechanical hand.During wrist design, stator is realized using screw to be fixedly connected with cylinder body, being fixedly connected between moving plate and gyroaxis is also to be realized by screw, and the air cavity of wrist location divide into two parts by moving plate, so it is mainly designed to realize the simplicity of wrist design and compact.
The Pneumatic Manipulator belongs to cylinder coordinate type, its structure is mainly made up of five parts, it is base, arm, hand structure, column and wrist respectively, which can carry out the motion of degree of freedom, such as wrist is turned round, is turned round, arm is flexible and lifts etc., arm revolution and elevating movement can be carried out using the column of base part, be programmed to control effectively each cylinder in Pneumatic Manipulator using PLC.
The structure of the Pneumatic Manipulator hand can be divided into two kinds:Air-negative-pressure formula hand, clipping hand, used in the present invention is clipping hand, realizes the imitation of human hand function by effective cooperation of paw and force transmission mechanism.If the hand structure that Pneumatic Manipulator belongs to pinion and-rack, it is necessary to by a fulcrum and two cooperations for referring to.Workpiece major part in Pneumatic Manipulator belongs to cylinder, therefore need the finger part in Pneumatic Manipulator is designed to the shape of V-type, the opening and closing operations of finger are completed using the cooperation between rack-and-pinion, the fixed operation of tooth bar is carried out on the piston rod, and finger part carries out the fixation of gear.If piston rod carries out downward operation, tooth bar is also required to carry out downward motion, and the gear positioned at the left side carries out clockwise movement, gear positioned at the right side carries out counterclockwise movement, the finger of Pneumatic Manipulator will open, and if contrary operation, finger will be closed.
During the wrist design of Pneumatic Manipulator, the part between hand and arm is exactly wrist, for adjusting hand motion, to meet the needs for imitating staff action.Under normal circumstances, Pneumatic Manipulator all possesses very high versatility, because the workpiece in mechanical hand is all horizontal positioned, therefore needs to use revolving structure during wrist design, and single blade rotary cylinder is used, to meet the needs of the most basic action of mechanical hand.During wrist design, stator is realized using screw to be fixedly connected with cylinder body, being fixedly connected between moving plate and gyroaxis is also to be realized by screw, and the air cavity of wrist location divide into two parts by moving plate, so it is mainly designed to realize the simplicity of wrist design and compact.
The Pneumatic Manipulator includes a big cylinder and a little cylinder, big cylinder is primarily used to the lifting being responsible in Pneumatic Manipulator and down maneuver, and little cylinder is primarily used to carry out gas tank grasping movement, during Pneumatic Manipulator execution, big cylinder is stretched out simultaneously with little cylinder, big cylinder is elevated, and power that the piston rod in little cylinder is applied to air accumulator is increasing, after workman is inflated operation to air accumulator, will there is the phenomenon for declining in big cylinder, air accumulator will submerge in water, staff is observed to the air-tightness of air accumulator, so as to distinguish qualified and underproof product, to ensure being smoothed out for Pneumatic Manipulator design, so as to improve the quality of Pneumatic Manipulator design.
The invention has the beneficial effects as follows:Reliable operation, accurate positioning, the simulation that staff action can be completed, and possess the advantages such as be swift in motion, the suitability is good, reaction is fast, stability is high, will not be affected by environment easily, and cisco unity malfunction.During use, leakage situation is not obvious, and the pollution to environment is not high, and pneumatic carrying implement is controlled using PLC programmings, and production reliability is high, and with very high motility, versatility is high.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the Pneumatic manipulator structural representation of the present invention.
In figure:1. hand;2. wrist rotary cylinder;3. wrist;4. arm;5. arm telescopic cylinder;6. column;7. column up-down cylinder;8. column revolving cylinder;9. base;10. matrix.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, during the wrist design of the Pneumatic Manipulator, the part between hand and arm is exactly wrist, for adjusting hand motion, to meet the needs for imitating staff action.Under normal circumstances, Pneumatic Manipulator all possesses very high versatility, because the workpiece in mechanical hand is all horizontal positioned, therefore needs to use revolving structure during wrist design, and single blade rotary cylinder is used, to meet the needs of the most basic action of mechanical hand.During wrist design, stator is realized using screw to be fixedly connected with cylinder body, being fixedly connected between moving plate and gyroaxis is also to be realized by screw, and the air cavity of wrist location divide into two parts by moving plate, so it is mainly designed to realize the simplicity of wrist design and compact.
Pneumatic Manipulator belongs to cylinder coordinate type, its structure is mainly made up of five parts, it is base, arm, hand structure, column and wrist respectively, which can carry out the motion of degree of freedom, such as wrist is turned round, is turned round, arm is flexible and lifts etc., arm revolution and elevating movement can be carried out using the column of base part, be programmed to control effectively each cylinder in Pneumatic Manipulator using PLC.
The structure of Pneumatic Manipulator hand can be divided into two kinds:Air-negative-pressure formula hand, clipping hand, used in the present invention is clipping hand, realizes the imitation of human hand function by effective cooperation of paw and force transmission mechanism.If the hand structure that Pneumatic Manipulator belongs to pinion and-rack, it is necessary to by a fulcrum and two cooperations for referring to.Workpiece major part in Pneumatic Manipulator belongs to cylinder, therefore need the finger part in Pneumatic Manipulator is designed to the shape of V-type, the opening and closing operations of finger are completed using the cooperation between rack-and-pinion, the fixed operation of tooth bar is carried out on the piston rod, and finger part carries out the fixation of gear.If piston rod carries out downward operation, tooth bar is also required to carry out downward motion, and the gear positioned at the left side carries out clockwise movement, gear positioned at the right side carries out counterclockwise movement, the finger of Pneumatic Manipulator will open, and if contrary operation, finger will be closed.
During the wrist design of Pneumatic Manipulator, the part between hand and arm is exactly wrist, for adjusting hand motion, to meet the needs for imitating staff action.Under normal circumstances, Pneumatic Manipulator all possesses very high versatility, because the workpiece in mechanical hand is all horizontal positioned, therefore needs to use revolving structure during wrist design, and single blade rotary cylinder is used, to meet the needs of the most basic action of mechanical hand.During wrist design, stator is realized using screw to be fixedly connected with cylinder body, being fixedly connected between moving plate and gyroaxis is also to be realized by screw, and the air cavity of wrist location divide into two parts by moving plate, so it is mainly designed to realize the simplicity of wrist design and compact.
Pneumatic Manipulator includes a big cylinder and a little cylinder, big cylinder is primarily used to the lifting being responsible in Pneumatic Manipulator and down maneuver, and little cylinder is primarily used to carry out gas tank grasping movement, during Pneumatic Manipulator execution, big cylinder is stretched out simultaneously with little cylinder, big cylinder is elevated, and power that the piston rod in little cylinder is applied to air accumulator is increasing, after workman is inflated operation to air accumulator, will there is the phenomenon for declining in big cylinder, air accumulator will submerge in water, staff is observed to the air-tightness of air accumulator, so as to distinguish qualified and underproof product, to ensure being smoothed out for Pneumatic Manipulator design, so as to improve the quality of Pneumatic Manipulator design.

Claims (8)

1. a kind of Pneumatic Manipulator, is characterized in that:During stating the wrist design of Pneumatic Manipulator, the part between hand and arm is exactly wrist, for adjusting hand motion, to meet the needs for imitating staff action.
2. a kind of Pneumatic Manipulator according to claim 1, is characterized in that:The Pneumatic Manipulator belongs to cylinder coordinate type, and its structure is mainly made up of five parts, is base, arm, hand structure, column and wrist respectively.
3. a kind of Pneumatic Manipulator according to claim 1, is characterized in that:The mechanical hand can carry out the motion of degree of freedom, such as wrist is turned round, is turned round, arm is flexible and lifts etc., arm revolution and elevating movement can be carried out using the column of base part, be programmed to control effectively each cylinder in Pneumatic Manipulator using PLC.
4. a kind of Pneumatic Manipulator according to claim 1, is characterized in that:The structure of the Pneumatic Manipulator hand can be divided into two kinds:Air-negative-pressure formula hand, clipping hand, used in the present invention is clipping hand, realizes the imitation of human hand function by effective cooperation of paw and force transmission mechanism.
5. a kind of Pneumatic Manipulator according to claim 1, is characterized in that:Finger part in the Pneumatic Manipulator is designed to the shape of V-type, completes the opening and closing operations of finger using the cooperation between rack-and-pinion, carries out the fixed operation of tooth bar on the piston rod, and finger part carries out the fixation of gear.
6. a kind of Pneumatic Manipulator according to claim 1, is characterized in that:Described two rapid escape valves, can both accelerate cylinder C priming speeds, again can full distance speed regulating, the signal in place of each cylinder produced by magnetic switch, and PC controllers control electromagnetic valve after detecting signal and make next step action.
7. a kind of Pneumatic Manipulator according to claim 1, is characterized in that:During the wrist design of the Pneumatic Manipulator, part between hand and arm is exactly wrist, for adjusting hand motion, to meet the needs for imitating staff action, it is generally the case that Pneumatic Manipulator all possesses very high versatility, because the workpiece in mechanical hand is all horizontal positioned, therefore need to use revolving structure during wrist design, and use single blade rotary cylinder, to meet the needs of the most basic action of mechanical hand.
8. a kind of Pneumatic Manipulator according to claim 1, is characterized in that:The Pneumatic Manipulator includes a big cylinder and a little cylinder, and big cylinder is primarily used to the lifting being responsible in Pneumatic Manipulator and down maneuver, and little cylinder is primarily used to carry out gas tank grasping movement.
CN201510615305.8A 2015-09-24 2015-09-24 A kind of Pneumatic Manipulator Pending CN106553186A (en)

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CN106553186A true CN106553186A (en) 2017-04-05

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106956253A (en) * 2017-04-19 2017-07-18 南京理工大学 Three Degree Of Freedom cylindrical coordinates industrial robot
CN107398895A (en) * 2017-09-20 2017-11-28 柳州欧卡机器人有限公司 A kind of rotatable industrial robot of both arms
CN107803826A (en) * 2017-12-01 2018-03-16 王冬冬 Cylindrical type manipulator
CN108453775A (en) * 2018-03-22 2018-08-28 宁波金凯机床股份有限公司 It is a kind of can automatic fine tuning section assembly manipulator
CN108656095A (en) * 2018-05-15 2018-10-16 常州信息职业技术学院 A kind of new electronic control manipulator
CN110496563A (en) * 2019-09-08 2019-11-26 张步有 A kind of food factory's automation stirring haulage equipment
CN110920718A (en) * 2019-10-31 2020-03-27 江苏永鼎光纤科技有限公司 Semi-automatic clamping and transferring prefabricated rod transport vehicle

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106956253A (en) * 2017-04-19 2017-07-18 南京理工大学 Three Degree Of Freedom cylindrical coordinates industrial robot
CN106956253B (en) * 2017-04-19 2019-06-25 南京理工大学 Three Degree Of Freedom cylindrical coordinates industrial robot
CN107398895A (en) * 2017-09-20 2017-11-28 柳州欧卡机器人有限公司 A kind of rotatable industrial robot of both arms
CN107803826A (en) * 2017-12-01 2018-03-16 王冬冬 Cylindrical type manipulator
CN108453775A (en) * 2018-03-22 2018-08-28 宁波金凯机床股份有限公司 It is a kind of can automatic fine tuning section assembly manipulator
CN108656095A (en) * 2018-05-15 2018-10-16 常州信息职业技术学院 A kind of new electronic control manipulator
CN110496563A (en) * 2019-09-08 2019-11-26 张步有 A kind of food factory's automation stirring haulage equipment
CN110920718A (en) * 2019-10-31 2020-03-27 江苏永鼎光纤科技有限公司 Semi-automatic clamping and transferring prefabricated rod transport vehicle

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Application publication date: 20170405