CN107175676A - A kind of cylinder clamping manipulator - Google Patents
A kind of cylinder clamping manipulator Download PDFInfo
- Publication number
- CN107175676A CN107175676A CN201710358218.8A CN201710358218A CN107175676A CN 107175676 A CN107175676 A CN 107175676A CN 201710358218 A CN201710358218 A CN 201710358218A CN 107175676 A CN107175676 A CN 107175676A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- guide rail
- mounting seat
- sliding block
- clamping
- 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.)
- Granted
Links
- 239000000463 material Substances 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000013138 pruning Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The invention discloses a kind of cylinder clamping manipulator, including guide rail mounting seat, executing agency, at least 3 groups linkages and clamping device, executing agency includes rotary cylinder, cylinder rotary shaft and control panel, the rotary cylinder is connected by cylinder rotary shaft with control panel key, every group of linkage includes connecting rod, sliding block base, sliding block and guide rail, sliding block is fixed on sliding block base, guide rail is fixed on the lower surface of guide rail mounting seat, one end of the connecting rod is articulated with control panel, one end of the other end and sliding block base is hinged, sliding block is slidably connected with guide rail, clamping device includes clamping head mounting seat and clamping head, the clamping head is installed in clamping head mounting seat, clamping head mounting seat is fixedly connected with the other end of sliding block base.The manipulator has greatly saved human cost, has reduced the labor intensity of staff, improve operating efficiency by realizing that cylinder is clamped in the inside of cylinder.
Description
Technical field
The present invention relates to a kind of manipulator, and in particular to a kind of cylinder clamping manipulator.
Background technology
Manipulator is a kind of high-tech automatic producing device that recent decades grow up, and can accurately capture specific shape
The object of shape.But at present without a manipulator for being used for clamping thin_wall cylinder part, especially by thin cylinder
Inside is come the manipulator realized cylinder clamping with unloaded, if carried and stacking using artificial, not only labor intensity is big, Er Qiegong
Make that efficiency is low, human cost is high.
The content of the invention
The present invention in order to overcome the shortcomings of above technology there is provided a kind of cylinder clamping manipulator, the manipulator by
The inside of cylinder realizes that cylinder is clamped, and has greatly saved human cost, has reduced the labor intensity of staff, improve work
Make efficiency.
The technical scheme that the present invention overcomes its technical problem to be used is：
A kind of cylinder clamping manipulator, including：
Guide rail mounting seat；
Executing agency, the executing agency includes rotary cylinder, cylinder rotary shaft and control panel, and the rotary cylinder is revolved by cylinder
Rotating shaft is connected with control panel key, and control panel is located at the lower section middle of guide rail mounting seat, rotary cylinder and is located at guide rail mounting seat
Top middle；
At least 3 groups linkages, 3 groups of linkages are uniformly surrounded on the lower section of guide rail mounting seat, wherein every group of connecting rod machine
Structure includes connecting rod, sliding block base, sliding block and guide rail, and sliding block is fixed on sliding block base, and guide rail is fixed under guide rail mounting seat
Surface, one end of the connecting rod is articulated with control panel, one end of the other end and sliding block base is hinged, and sliding block is slided with guide rail to be connected
Connect；
Clamping device, the clamping device includes clamping head mounting seat and clamping head, and the clamping head is installed on clamping head mounting seat
On, clamping head mounting seat is fixedly connected with the other end of sliding block base.
It is preferred that, the same side two ends of the guide rail respectively set a gag lever post, and anti-limited slip block departs from guide rail.
It is preferred that, the clamping head detachable type is installed in clamping head mounting seat, when clamping head is for a long time using abrasion
It is replaceable afterwards.
It is preferred that, the clamping head is quality of rubber materials, it is ensured that the frictional force needed for clamping, and quality of rubber materials is soft,
Workpiece deformation is not resulted in during clamping workpiece.
It is preferred that, the face that the clamping head is contacted with cylindrical workpieces inwall is arc surface, to coordinate the cylindrical workpieces of arc
Inwall.
It is preferred that, the linkage is 3-6 groups；The further preferred linkage is 3 groups, both ensure that clamping
Stable property is again farthest cost-effective.
It is preferred that, the equilateral triangle for being shaped as pruning three angles of the guide rail mounting seat.
The beneficial effects of the invention are as follows：
1st, the robot manipulator structure is simple, by realizing that cylinder is clamped in the inside of cylinder, has greatly saved human cost, has reduced
The labor intensity of staff, improves operating efficiency.
2nd, the manipulator is that the driving at least 3 groups linkages can be achieved by an executing agency, without every group of company
A linkage special executing agency drives, not only cost-effective, and ensure that the dynamics of clamping is more uniform, and clamping is more
Plus it is reliable.
3rd, clamping head and clamping head mounting seat are detachable connection, are conveniently replaceable.
4th, clamping head uses quality of rubber materials, can not only ensure the frictional force needed for clamping, and quality of rubber materials is soft, folder
Workpiece deformation is not resulted in when holding workpiece.
5th, the manipulator can clamp various sizes of cylindrical workpieces, applied widely.
Brief description of the drawings
Fig. 1 is the cylinder clamping manipulator use state structural representation of the present embodiment.
Fig. 2 is the structural representation that the present embodiment takes away the cylinder clamping manipulator after guide rail mounting seat.
Fig. 3 is to look up structure when the present embodiment takes away the tensioning clamp position of the cylinder clamping manipulator after guide rail mounting seat
Schematic diagram.
Fig. 4 is to look up structure when the present embodiment takes away the contraction discharging state of the cylinder clamping manipulator after guide rail mounting seat
Schematic diagram.
In figure, 1, guide rail mounting seat, 2, executing agency, 21, rotary cylinder, 22, cylinder rotary shaft, 23, control panel, 3, even
Linkage, 31, connecting rod, 32, sliding block base, 33, sliding block, 34, guide rail, 341, gag lever post, 4, clamping device, 41, clamping head peace
Fill seat, 42, clamping head, 5, cylinder mounting seat, 6, cylindrical workpieces.
Embodiment
The present invention is better understood from for the ease of those skilled in the art, the present invention is done with specific embodiment below in conjunction with the accompanying drawings
It is further described, following is only exemplary not limit protection scope of the present invention.
As illustrated in fig. 1 and 2, a kind of cylinder clamping manipulator described in the present embodiment, including guide rail mounting seat 1, execution machine
In structure 2, at least 3 groups linkages 3 and clamping device 4, the present embodiment preferred guide rail mounting seat 1 be shaped as prune three angles
Equilateral triangle.
As in Figure 2-4, the executing agency 2 includes rotary cylinder 21, cylinder rotary shaft 22 and control panel 23；The rotation
Rotaring cylinder 21 is fixed on the lower section of cylinder mounting seat 5, and rotary cylinder 21 is connected by cylinder rotary shaft 22 with the key of control panel 23, control
Disk 23 processed is located at the lower section middle of guide rail mounting seat 1, rotary cylinder 21 and is located at the top middle of guide rail mounting seat 1.
As illustrated in fig. 1 and 2, the uniform lower section for being surrounded on guide rail mounting seat 1 of every group of linkage 3, wherein every group of company
Linkage 3 includes connecting rod 31, sliding block base 32, sliding block 33 and guide rail 34, and sliding block 33 is fixed on sliding block base 32, and guide rail 34 is consolidated
Due to the lower surface of guide rail mounting seat 1, one end of the connecting rod 31 is articulated with control panel 23, the other end and sliding block base 32
One end is hinged, and sliding block 33 is slidably connected with guide rail 34；It is preferred that the same side two ends of the guide rail 34 respectively set a gag lever post
341, anti-limited slip block 33 departs from guide rail 34.
As shown in Fig. 2 the clamping device 4 includes clamping head mounting seat 41 and clamping head 42, the clamping head 42 is removable
The formula of unloading is installed in clamping head mounting seat 41, when the long-time of clamping head 42 using wear and tear after it is replaceable, clamping head mounting seat 41 with
The other end of sliding block base 31 is fixedly connected；The clamping head 42 is quality of rubber materials, it is ensured that the frictional force needed for clamping, and
Quality of rubber materials is soft, and workpiece deformation is not resulted in during clamping workpiece；The face that the clamping head 42 is contacted with the inwall of cylindrical workpieces 6 is
Arc surface, to coordinate the cylindrical workpieces inwall of arc.
The operation principle of the present embodiment cylinder clamping manipulator：The manipulator of the present embodiment is put in cylindrical workpieces 6, controlled
Rotary cylinder 21 processed works so that cylinder rotary shaft 22 drives control panel 23 to rotate, and is being led by 3 connecting rods 31 with movable slider 33
Slided on rail 34, so that by clamping head 42 toward extrapolated, as shown in Figure 3 so that clamping head 42 is contacted simultaneously with the inwall of cylindrical workpieces 6
Tensioning, at this moment linkage 3 is maintained at " dead point/stop " position, with larger chucking power, i.e. clamping head 42 by cylindrical workpieces
6 clamp, and this process realizes clamping of the manipulator to cylindrical workpieces 6, when not reaching specified location, and the manipulator can be steadily
Cylindrical workpieces are clamped, the situation come off on the way is not resulted in.Specified location is transported to when manipulator clamps cylindrical workpieces 6
When, control rotary cylinder 21 resets so that cylinder rotary shaft 22 drives the rotation of the opposite direction of control panel 23, passes through 3 bands of connecting rod 31
Movable slider 33 on guide rail 34 opposite direction slide, so as to clamping head 42 be shunk inward, as shown in Figure 4 so that clamping head 42 with
The inwall of cylindrical workpieces 6 departs from, and this process realizes manipulator and cylindrical workpieces are unloaded.
In addition, the connecting rod 31 by changing different length, can also clamp various sizes of cylindrical workpieces, the scope of application
Extensively.
Above only describes the general principle and preferred embodiment of the present invention, those skilled in the art can be according to foregoing description
Many changes and improvements are made, these changes and improvements should belong to protection scope of the present invention.
Claims (8)
1. a kind of cylinder clamping manipulator, it is characterised in that including：
Guide rail mounting seat（1）；
Executing agency（2）, the executing agency include rotary cylinder（21）, cylinder rotary shaft（22）And control panel（23）, the rotation
Rotaring cylinder（21）Pass through cylinder rotary shaft（22）With control panel（23）Key is connected, control panel（23）Positioned at guide rail mounting seat（1）'s
Lower section middle, rotary cylinder（21）Positioned at guide rail mounting seat（1）Top middle；
At least 3 groups linkages（3）, 3 groups of linkages are uniformly surrounded on guide rail mounting seat（1）Lower section, wherein every group
Linkage（3）Including connecting rod（31）, sliding block base（32）, sliding block（33）And guide rail（34）, sliding block（33）It is fixed on sliding block bottom
Seat（32）On, guide rail（34）It is fixed on guide rail mounting seat（1）Lower surface, the connecting rod（31）One end be articulated with control panel
（23）The upper, other end and sliding block base（32）One end be hinged, sliding block（33）With guide rail（34）It is slidably connected；
Clamping device（4）, the clamping device include clamping head mounting seat（41）And clamping head（42）, the clamping head（42）Install
In clamping head mounting seat（41）On, clamping head mounting seat（41）With sliding block base（32）The other end be fixedly connected.
2. cylinder clamping manipulator according to claim 1, it is characterised in that the guide rail（34）The same side two ends it is each
One gag lever post is set（341）.
3. cylinder clamping manipulator according to claim 1 or 2, it is characterised in that the clamping head（42）It is detachable
It is installed on clamping head mounting seat（41）On.
4. cylinder clamping manipulator according to claim 3, it is characterised in that the clamping head（42）For quality of rubber materials.
5. cylinder clamping manipulator according to claim 1, it is characterised in that the clamping head（42）In cylindrical workpieces
The face of wall contact is arc surface.
6. the cylinder clamping manipulator according to claim 1 or 2 or 4 or 5, it is characterised in that the linkage（3）For
3-6 groups.
7. cylinder clamping manipulator according to claim 6, it is characterised in that the linkage（3）For 3 groups.
8. cylinder clamping manipulator according to claim 7, it is characterised in that the guide rail mounting seat（1）Be shaped as
Prune the equilateral triangle at three angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710358218.8A CN107175676B (en) | 2017-05-19 | 2017-05-19 | A kind of cylinder clamping manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710358218.8A CN107175676B (en) | 2017-05-19 | 2017-05-19 | A kind of cylinder clamping manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107175676A true CN107175676A (en) | 2017-09-19 |
| CN107175676B CN107175676B (en) | 2018-04-20 |
Family
ID=59831445
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710358218.8A Active CN107175676B (en) | 2017-05-19 | 2017-05-19 | A kind of cylinder clamping manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107175676B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718027A (en) * | 2017-11-16 | 2018-02-23 | 温州职业技术学院 | Adaptive inner cylinder clamping manipulator |
| CN108313718A (en) * | 2018-03-01 | 2018-07-24 | 安徽世界村新材料有限公司 | A kind of tire fixture |
| CN109987407A (en) * | 2019-04-28 | 2019-07-09 | 安庆工匠智能化设备制造有限公司 | A kind of full-automatic slicing machine unloading manipulator |
| CN115196074A (en) * | 2022-09-16 | 2022-10-18 | 江苏精益智控科技有限公司 | Equipment for replacing manual steel coil tightening |
| CN116810807A (en) * | 2022-10-19 | 2023-09-29 | 温州市日康机械科技厂 | Mechanical arm |
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| CN201115875Y (en) * | 2007-10-30 | 2008-09-17 | 国营红阳机械厂 | Large diameter fast positioning clamping chuck |
| CN204196078U (en) * | 2014-11-03 | 2015-03-11 | 福建华橡自控技术股份有限公司 | A kind of tyre vulcanizer gripper |
| US20150123416A1 (en) * | 2013-11-05 | 2015-05-07 | Fanuc Corporation | Robot hand for gripping cylindrical object and robot having the robot hand |
| CN204382294U (en) * | 2015-01-14 | 2015-06-10 | 上海古岛自动化设备有限公司 | The flexible tyre catching apparatus of manipulator |
| CN204450544U (en) * | 2014-12-28 | 2015-07-08 | 迈赫机器人自动化股份有限公司 | A kind of tire catching robot |
| CN104908055A (en) * | 2015-06-19 | 2015-09-16 | 鲁东大学 | Tire synchronous fixture |
| CN106142114A (en) * | 2016-07-28 | 2016-11-23 | 青岛大学 | Triple speed tire captures robot |
-
2017
- 2017-05-19 CN CN201710358218.8A patent/CN107175676B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201115875Y (en) * | 2007-10-30 | 2008-09-17 | 国营红阳机械厂 | Large diameter fast positioning clamping chuck |
| US20150123416A1 (en) * | 2013-11-05 | 2015-05-07 | Fanuc Corporation | Robot hand for gripping cylindrical object and robot having the robot hand |
| CN204196078U (en) * | 2014-11-03 | 2015-03-11 | 福建华橡自控技术股份有限公司 | A kind of tyre vulcanizer gripper |
| CN204450544U (en) * | 2014-12-28 | 2015-07-08 | 迈赫机器人自动化股份有限公司 | A kind of tire catching robot |
| CN204382294U (en) * | 2015-01-14 | 2015-06-10 | 上海古岛自动化设备有限公司 | The flexible tyre catching apparatus of manipulator |
| CN104908055A (en) * | 2015-06-19 | 2015-09-16 | 鲁东大学 | Tire synchronous fixture |
| CN106142114A (en) * | 2016-07-28 | 2016-11-23 | 青岛大学 | Triple speed tire captures robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107718027A (en) * | 2017-11-16 | 2018-02-23 | 温州职业技术学院 | Adaptive inner cylinder clamping manipulator |
| CN108313718A (en) * | 2018-03-01 | 2018-07-24 | 安徽世界村新材料有限公司 | A kind of tire fixture |
| CN109987407A (en) * | 2019-04-28 | 2019-07-09 | 安庆工匠智能化设备制造有限公司 | A kind of full-automatic slicing machine unloading manipulator |
| CN109987407B (en) * | 2019-04-28 | 2024-01-09 | 安庆工匠智能化设备制造有限公司 | Full-automatic slicer mechanical arm of unloading |
| CN115196074A (en) * | 2022-09-16 | 2022-10-18 | 江苏精益智控科技有限公司 | Equipment for replacing manual steel coil tightening |
| CN116810807A (en) * | 2022-10-19 | 2023-09-29 | 温州市日康机械科技厂 | Mechanical arm |
| CN116810807B (en) * | 2022-10-19 | 2024-03-15 | 温州市日康机械科技厂 | Mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107175676B (en) | 2018-04-20 |
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Effective date of registration: 20200103 Address after: 325204 International Automobile & Motorcycle Industrial Park, Wenzhou, Zhejiang, Ruian Patentee after: Zhejiang Shenghuabo Electrical Applicance Co., Ltd. Address before: 325006 Zhejiang, Ouhai, South East Road, No. 38, Wenzhou National University Science Park Incubator Patentee before: Wenzhou Vocational & Technical College |