CN107457768A - A kind of durable type captures robot - Google Patents
A kind of durable type captures robot Download PDFInfo
- Publication number
- CN107457768A CN107457768A CN201710642106.5A CN201710642106A CN107457768A CN 107457768 A CN107457768 A CN 107457768A CN 201710642106 A CN201710642106 A CN 201710642106A CN 107457768 A CN107457768 A CN 107457768A
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- China
- Prior art keywords
- clamping device
- fuselage
- type clamping
- type
- layer
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of durable type to capture robot, is related to the technical field of plant equipment；The telescopic top is connected through second joint axle and connecting seat, and top is connected to cylinder；The V-type clamping device is connected by connecting rod with telescopic, and spring is provided with the middle part of the V-type clamping device, and tip inside is provided with pad；The fuselage is connected with outside PLC；The force sensor being connected with V-type clamping device is provided with the top of the connecting seat, audible-visual annunciator is connected at the top of the force sensor；The surface of the fuselage and V-type clamping device is all provided with matcoveredn, and the protective layer is made up of acid-alkali-corrosive-resisting layer, high-temperature-resistant layer and wearing layer；Robot manipulation of the present invention is simple, small to workpiece damage during crawl, and operating efficiency and positioning precision are high, and service life length, security is good, ensure that crawl work long hours are carried out in high quality.
Description
Technical field
The present invention relates to the technical field of plant equipment, specifically a kind of durable type crawl robot.
Background technology
Manipulator is some holding functions that can imitate human arm, object or operation instrument are captured, carried by fixed routine
Automatic pilot.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, and it can be replaced
The heavy labor of people can be operated with realizing the mechanization of production and automation under hostile environment, thus be widely used in
The departments such as machine-building, metallurgy, electronics, light industry and atomic energy.Wherein crawl robot is produced by electric or pneumatic mode
Lively power, to replace frequently manual grasping movement, the working strength of personnel is alleviated to a certain extent.
However, with the development of science and technology crawl robot while updating there is also it is certain the drawbacks of, it is such as existing
Following defect also be present in some crawl robots：
1st, clamping device is easy to defective work piece in impulsive force caused by grabbing workpiece；
2nd, staff is needed to be operated in real time, operating efficiency is low, and the amount of labour is still very big, while positioning precision is low, grabs
Easily occurs the deviation on position when taking；
3rd, service life is short, and overall security is poor, staff can not supervisory-controlled robot in real time specific works parameter, therefore grab
Take and easily occur deviation and contingency during work.
The content of the invention
Goal of the invention：In order to overcome the above insufficient, it is an object of the invention to provide a kind of durable type to capture robot, the machine
Device people is simple to operate, small to workpiece damage during crawl, and operating efficiency and positioning precision are high, and service life length, security is good,
It ensure that crawl work long hours are carried out in high quality.
Technical scheme：In order to realize the above object a kind of durable type crawl robot of the present invention, includes machine
Body, connecting seat, telescopic, V-type clamping device and PLC；First joint shaft both ends respectively with the fuselage, second joint
Axle is connected, the servo electricity that first joint shaft, second joint axle and V-type clamping device are provided with by fuselage interior
Machine drives, and the second joint axle top is connected to connecting seat；The telescopic top coordinates through second joint axle and connecting seat
Connection, and top is connected to cylinder；The V-type clamping device is connected by connecting rod with telescopic, is set in the middle part of the V-type clamping device
There is spring, tip inside is provided with pad；The fuselage is connected with outside PLC；It is provided with the top of the connecting seat and is pressed from both sides with V-type
The connected force sensor of mechanism is held, audible-visual annunciator is connected at the top of the force sensor；The fuselage and V-type clamping device
Surface be all provided with matcoveredn, the protective layer is made up of acid-alkali-corrosive-resisting layer, high-temperature-resistant layer and wearing layer.The present invention passes through
PLC carries out intelligent control to whole robot, and each joint shaft is accurately positioned automatically according to PLC control program, nothing
Staff is needed to be operated in real time, therefore operating efficiency is high, personnel's amount of labour is small, and positioning precision is high；And it is by pressing from both sides
Hold and pad is set on the inside of mechanism, so as to serve good shock absorbing effect, avoid clamping device in gripping to workpiece
Damage；On the other hand, it monitors the stressing conditions of clamping device by force sensor in real time, deviation occurs in motor operation
Or during failure, its audible-visual annunciator makes an immediate response, so as to remind staff to be adjusted in time, crawl work greatly ensure that
Efficiently and stably run for a long time；It greatly improves the overall weatherability of robot by protective layer in addition, so as to be provided with
Good high temperature resistant, wear-resistant and corrosion resistant performance, service life length.
Fan is provided with the middle part of heretofore described V-type clamping device.It reduces the temperature around clamping device by fan
Degree, while eliminate the dust impurities on clamping device surface, it is therefore prevented that the generation of its surface smut.
Heretofore described force sensor is connected with the display that PLC is connected to.Staff passes through display
Check convenient and swift, accuracy height.
Heretofore described second joint axle bottom is provided with the vision sensor being connected with external display.Staff is led to
Cross display can supervisory-controlled robot in real time specific works situation, so as to further increase the security and standard of crawl work
True property, prevents the generation of fortuitous event.
Heretofore described acid-alkali-corrosive-resisting layer is epoxy coating, and the high-temperature-resistant layer is polytetrafluoroethylene floor, institute
It is potassium steel layer to state wearing layer.
Heretofore described PLC carries emergency off push-button.When the fortuitous events such as fire occur, staff
It can be greatly improved by emergency off push-button with fast shut-off general supply, security.
Beneficial effect：Compared with prior art, the present invention has advantages below：
1st, heretofore described a kind of durable type crawl robot, it carries out intelligence by PLC to whole robot
Control, each joint shaft is accurately positioned, operated in real time without staff automatically according to PLC control program, therefore work
Make efficiency high, personnel's amount of labour is small, and positioning precision is high；And it is padded by being set on the inside of clamping device, so as to serve
Good shock absorbing effect, avoid damage of the clamping device in gripping to workpiece.
2nd, heretofore described a kind of durable type crawl robot, it monitors clamping device in real time by force sensor
Stressing conditions, when deviation or failure occurs in motor operation, its audible-visual annunciator makes an immediate response, so as to remind staff and
When be adjusted, greatly ensure that crawl work long hours efficiently and stably run.
3rd, heretofore described a kind of durable type crawl robot, it greatly improves robot entirety by protective layer
Weatherability, so as to be provided with good high temperature resistant, wear-resistant and corrosion resistant performance, service life length.
4th, heretofore described a kind of durable type crawl robot, it reduces the temperature around clamping device by fan
Degree, while eliminate the dust impurities on clamping device surface, it is therefore prevented that the generation of its surface smut.
5th, heretofore described a kind of durable type crawl robot, staff can real-time monitoring equipment by display
The specific works situation of device people, so as to further increase the security and accuracy of crawl work, prevent the hair of fortuitous event
It is raw；In addition when the fortuitous events such as fire occur, staff can be with fast shut-off general supply by emergency off push-button, safety
Property greatly improves.
Brief description of the drawings
Fig. 1 is the overall structure diagram of robot in the present invention.
In figure：Fuselage 1, the first joint shaft 2, second joint axle 3, connecting seat 4, cylinder 5, telescopic 6, connecting rod 7, spring 8,
V-type clamping device 9, pad 10, PLC 11, force sensor 12, fan 13, vision sensor 14, audible-visual annunciator
15。
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail, but illustrates protection scope of the present invention simultaneously simultaneously
The specific scope of the present embodiment is not limited to, based on the embodiment in the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained under the premise of creative work, belongs to the scope of protection of the invention.
As shown in figure 1, a kind of durable type crawl robot of the present embodiment, includes fuselage 1, the first joint shaft 2, second
Joint shaft 3, connecting seat 4, cylinder 5, telescopic 6, connecting rod 7, spring 8, V-type clamping device 9, pad 10, PLC 11, power
Feel sensor 12, fan 13, vision sensor 14 and audible-visual annunciator 15.
The annexation of above-mentioned each part is as follows：Match somebody with somebody respectively with the fuselage 1, second joint axle 3 at the both ends of first joint shaft 2
Close connection, the servo electricity that first joint shaft 2, second joint axle 3 and V-type clamping device 9 are provided with by the inside of fuselage 1
Machine drives, and the top of second joint axle 3 is connected to connecting seat 4；The top of telescopic 6 passes through second joint axle 3 and connecting seat 4
It is connected, and top is connected to cylinder 5；The V-type clamping device 9 is connected by connecting rod 7 with telescopic 6, the V-type clamping machine
The middle part of structure 9 is provided with spring 8, and tip inside is provided with pad 10；The fuselage 1 is connected with outside PLC 11；The connecting seat
4 tops are provided with the force sensor 12 being connected with V-type clamping device 9, and the top of force sensor 12 is connected to audible-visual annunciator
15；The surface of the fuselage 1 and V-type clamping device 9 is all provided with matcoveredn, and the protective layer is by acid-alkali-corrosive-resisting layer, high temperature resistant
Layer and wearing layer composition.
The middle part of V-type clamping device described in the present embodiment 9 is provided with fan 13；The PLC 11 carries emergency cut-off
Button.
The display that force sensor 12 described in the present embodiment is connected to PLC 11 is connected；The second joint
The bottom of axle 3 is provided with the vision sensor 14 being connected with external display.
Acid-alkali-corrosive-resisting layer described in the present embodiment is epoxy coating, and the high-temperature-resistant layer is polytetrafluoroethylene floor,
The wearing layer is potassium steel layer.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvement can also be made, these improvement also should be regarded as the present invention's
Protection domain.
Claims (6)
1. a kind of durable type captures robot, it is characterised in that：Including：Fuselage（1）, connecting seat（4）, telescopic（6）, V-type folder
Hold mechanism（9）And PLC（11）；
First joint shaft（2）Both ends respectively with the fuselage（1）, second joint axle（3）It is connected, first joint shaft
（2）, second joint axle（3）And V-type clamping device（9）Pass through fuselage（1）The driving of servomotor that inside is provided with, described the
Two joint shafts（3）Top is connected to connecting seat（4）；The telescopic（6）Top passes through second joint axle（3）With connecting seat（4）Match somebody with somebody
Connection is closed, and top is connected to cylinder（5）；The V-type clamping device（9）Pass through connecting rod（7）With telescopic（6）Connect, the V-type
Clamping device（9）Middle part is provided with spring（8）, tip inside, which is provided with, to be padded（10）；The fuselage（1）With outside PLC
（11）It is connected；
The connecting seat（4）Top is provided with and V-type clamping device（9）Connected force sensor（12）, the force sensor
（12）Top is connected to audible-visual annunciator（15）；The fuselage（1）With V-type clamping device（9）Surface be all provided with matcoveredn, it is described
Protective layer is made up of acid-alkali-corrosive-resisting layer, high-temperature-resistant layer and wearing layer.
A kind of 2. durable type crawl robot according to claim 1, it is characterised in that：The V-type clamping device（9）In
Portion is provided with fan（13）.
A kind of 3. durable type crawl robot according to claim 1, it is characterised in that：The force sensor（12）With
PLC（11）The display being connected to is connected.
A kind of 4. durable type crawl robot according to claim 3, it is characterised in that：The second joint axle（3）Bottom
Portion is provided with the vision sensor being connected with external display（14）.
A kind of 5. durable type crawl robot according to claim 1, it is characterised in that：The acid-alkali-corrosive-resisting layer is ring
Oxygen resinous coat, the high-temperature-resistant layer are polytetrafluoroethylene floor, and the wearing layer is potassium steel layer.
A kind of 6. durable type crawl robot according to claim 1, it is characterised in that：The PLC（11）Band
There is emergency off push-button.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642106.5A CN107457768A (en) | 2017-07-31 | 2017-07-31 | A kind of durable type captures robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710642106.5A CN107457768A (en) | 2017-07-31 | 2017-07-31 | A kind of durable type captures robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107457768A true CN107457768A (en) | 2017-12-12 |
Family
ID=60547828
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710642106.5A Withdrawn CN107457768A (en) | 2017-07-31 | 2017-07-31 | A kind of durable type captures robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107457768A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108816325A (en) * | 2018-07-06 | 2018-11-16 | 太仓市鼎祥五金制品厂 | A kind of protection type Taw crushing apparatus |
| CN108970682A (en) * | 2018-07-06 | 2018-12-11 | 太仓市鼎祥五金制品厂 | A kind of safety durable type Taw crushing apparatus |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204604325U (en) * | 2015-05-22 | 2015-09-02 | 芜湖陀曼精机科技有限公司 | For the workpiece grabbing manipulator of hot operation |
| CN106002998A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | High-efficiency working method for automatic clamping manipulator |
| CN106113084A (en) * | 2016-06-30 | 2016-11-16 | 苏州塞默机械有限公司 | A kind of automatic clamping machine tool hands with display |
| CN205733544U (en) * | 2016-06-30 | 2016-11-30 | 江苏捷帝机器人股份有限公司 | A kind of intelligent welding manipulator |
-
2017
- 2017-07-31 CN CN201710642106.5A patent/CN107457768A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204604325U (en) * | 2015-05-22 | 2015-09-02 | 芜湖陀曼精机科技有限公司 | For the workpiece grabbing manipulator of hot operation |
| CN106002998A (en) * | 2016-06-30 | 2016-10-12 | 苏州塞默机械有限公司 | High-efficiency working method for automatic clamping manipulator |
| CN106113084A (en) * | 2016-06-30 | 2016-11-16 | 苏州塞默机械有限公司 | A kind of automatic clamping machine tool hands with display |
| CN205733544U (en) * | 2016-06-30 | 2016-11-30 | 江苏捷帝机器人股份有限公司 | A kind of intelligent welding manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108816325A (en) * | 2018-07-06 | 2018-11-16 | 太仓市鼎祥五金制品厂 | A kind of protection type Taw crushing apparatus |
| CN108970682A (en) * | 2018-07-06 | 2018-12-11 | 太仓市鼎祥五金制品厂 | A kind of safety durable type Taw crushing apparatus |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171212 |