CN108147119A - A kind of pure air assisted robot arm device - Google Patents
A kind of pure air assisted robot arm device Download PDFInfo
- Publication number
- CN108147119A CN108147119A CN201711470019.2A CN201711470019A CN108147119A CN 108147119 A CN108147119 A CN 108147119A CN 201711470019 A CN201711470019 A CN 201711470019A CN 108147119 A CN108147119 A CN 108147119A
- Authority
- CN
- China
- Prior art keywords
- overturning
- shaft
- mechanical arm
- axle bed
- claw
- 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
- 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
-
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
Abstract
The invention discloses a kind of pure air assisted robot arm device, solve self-priming gear oil pump in fuel charger manufacturing process in the prior art it is mobile with overturning inefficiency, the technical issues of labor intensity is high, safety coefficient is low.The present invention includes universal mechanical arm, control unit and switching mechanism, the switching mechanism includes the fixture mount being connected with universal mechanical arm, air-actuated jaw, pneumatic drive mechanism, pneumatic drive mechanism includes the tumble cylinder being connect with fixture mount, tumble cylinder is hinged with upset connecting rod, the end of fixture mount is fixedly connected with overturning axle bed, the transmission gear being connected with upset connecting rod is provided in overturning axle bed, the overturning shaft being sequentially connected with transmission gear is provided with below overturning axle bed, the air-actuated jaw is set in overturning shaft, position limiting structure is provided on overturning axle bed.The present invention, which has the characteristics that simple and compact for structure, changeable clamp, compatibility are strong, simple operation is flexible, has good popularizing application prospect.
Description
Technical field
The present invention relates to auxiliary device technical field is accommodated, a kind of pure air assisted robot arm device is particularly related to.
Background technology
Mechanical arm refers to high precision machines hand, and mechanical arm is that a multiple-input and multiple-output, nonlinearity, close coupling are answered
Miscellaneous system.Because of its unique operating flexibility, it is used widely in fields such as industry assembling, safety anti-explosives.Mechanical arm is
One complication system, there is the uncertainties such as Parameter Perturbation, external interference and Unmarried pregnancy.The thus modeling mould of mechanical arm
There is also uncertainties for type, different tasks are needed to plan the movement locus in joint of mechanical arm space, so as to cascade structure
Into end pose.Different mechanical arms can realize different functions, but existing mechanical arm dynamic structure is complicated, and transmission is not
Just, compatible difference.
Particularly in the technical field of fuel charger manufacture, self-priming gear oil pump is steady, prolonged to reach low noise, flow
Durable effect, the final product quality of self-priming gear oil pump is very heavy, needed in fuel charger manufactures installation process it is repeatedly mobile and
Self-priming gear oil pump is overturn, operation is sufficiently complex, manual operation not only inefficiency, but also labor intensity is high, simultaneously
Also there is very big security risk, production efficiency seriously restrict.
Invention content
For the deficiency in above-mentioned background technology, the present invention proposes a kind of pure air assisted robot arm device, solves existing
Have in technology in fuel charger manufacturing process that self-priming gear oil pump is mobile and overturning inefficiency, labor intensity are high, safety
The technical issues of coefficient is low.
The technical proposal of the invention is realized in this way：A kind of pure air assisted robot arm device, including universal mechanical arm,
Control unit and switching mechanism, the switching mechanism include the fixture mount being connected with universal mechanical arm, air-actuated jaw, pneumatic driving
Motivation structure, pneumatic drive mechanism include the tumble cylinder being connect with fixture mount, and the air cylinder tie rod head of tumble cylinder, which is hinged with, to be turned over
Turn connecting rod, the end of fixture mount is fixedly connected with overturning axle bed, overturns in axle bed and be provided with the transmission being connected with upset connecting rod
Gear, overturning axle bed lower section are provided with the overturning shaft being sequentially connected with transmission gear, overturn and set the pneumatic clamps in shaft
Tool, overturns the position limiting structure being provided on axle bed for block overturning shaft, and described control unit includes control tumble cylinder and moves
The overturning control valve of work.
The upset connecting rod is arc, and the transmission gear is sector gear, overturns and is provided with and sector gear in shaft
The turning gear of engagement, curved rod are set with sector gear for integral type.
The position limiting structure includes two bolt blocks for being arranged on the outside of overturning axle bed, and two bolt blocks are arranged on same
It is in horizontal plane and symmetrical, caging bolt is both provided in two bolt blocks, the shaft end for overturning shaft is fixedly installed connection
Flange, the side of connecting flange are provided with the limited block coordinated with caging bolt block.
The air-actuated jaw includes the clamp connecting plate being fixed in overturning shaft, is fixedly installed on clamp connecting plate
There is sliding rail, one end of sliding rail is fixedly installed the first claw, the other end is movably set with the second claw, the fixed setting of the second claw
The folder for sliding rack to be driven to be slided in sliding rail is provided on the sliding rack being slidably matched with sliding rail, between clamp connecting plate
Tight cylinder, described control unit further include the pinch control valve of control clamping cylinder action.
The air cylinder tie rod head of the clamping cylinder is hinged with connecting plate, and connecting plate is fixedly connected with the sliding rack, clamps
The pedestal of cylinder be hinged on on the first claw of connecting plate or so corresponding position.
Soft jaw is provided on the inside of first claw and the second claw, the end set of soft jaw is useful for block work
The block of part.
The present invention can realize principal arm relative to the 360 ° of rotations of column level, secondary arm can with respect to principal arm by universal mechanical arm
270 ° are rotated horizontally, then fixture mount can realize that air-actuated jaw clamping carries out easily compared with heavy material relative to 270 ° of rotations of principal arm
Mobile, overturning, arbitrarily drags, hovers, puts assembling work.It is strong to reduce the labour that production is carried with assembling work operating personnel
Degree improves production efficiency.Air-actuated jaw and pneumatic drive mechanism are set, realize the uniformity of power source, and is to use gas
Pressure is economic and environment-friendly as dynamic medium；Tumble cylinder can easily overturn air-actuated jaw, curved rod and sector gear one
Formula design has fully ensured that structural strength, and position limiting structure can reliably ensure to overturn the rotational angle of shaft；Air-actuated jaw can be with
Easily clamping workpiece, soft jaw can be damaged to avoid clamping of workpieces was clamped, and block is further ensured that the reliability of clamping workpiece；
The air-actuated jaw set in overturning shaft is replaced by different structure.The present invention have simple in structure, compact, changeable clamp,
The features such as compatibility is strong, sturdy and durable, economic and environment-friendly, safety is easy to operate has good popularizing application prospect.
Description of the drawings
In order to illustrate the embodiments of the present invention more clearly, attached drawing makees letter needed in being described below to embodiment
Singly introduce, it should be apparent that, the accompanying drawings in the following description is only some embodiments of the present invention, for the common skill in this field
For art personnel, without creative efforts, other attached drawings are can also be obtained according to these attached drawings.
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the overlooking the structure diagram of the present invention；
Fig. 3 is the structure diagram of switching mechanism in Fig. 1；
Fig. 4 is the positive structure diagram of Fig. 3；
Fig. 5 is the side structure schematic view of Fig. 3；
Fig. 6 is the present invention looks up structural representation of Fig. 3；
Fig. 7 is the schematic cross-sectional view in A-A faces in Fig. 6.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of not making the creative labor
Embodiment shall fall within the protection scope of the present invention.
As shown in Fig. 1-7, embodiment 1, a kind of pure air assisted robot arm device, including universal mechanical arm 1, control list
Member 2 and switching mechanism 3, universal mechanical arm 1 include vertically disposed column 101, and the top of column 101, which is provided with, can surround column
101 carry out the principal arm 102 of 360 ° of rotations, and the other end of principal arm 102 is connected with the L-shaped that 270 ° of rotations can be carried out relative to principal arm 102
Secondary arm 103, the other end of L-shaped secondary arm 103 are connected with vertical fixture mount 301.The side of fixture mount 301 is provided with overturning
Cylinder block 302, tumble cylinder seat 302 are hinged with tumble cylinder 304 by the first axis pin 303.
Switching mechanism 3 is fixedly installed in 301 lower end of fixture mount, and switching mechanism 3 includes fixing with fixture mount 301 and connect
The overturning axle bed 305 connect overturns in axle bed 305 and is provided with transmission gear 306, and transmission gear 306 is by upset connecting rod 307 with turning over
The air cylinder tie rod head of rotaring cylinder 302 is hinged, and upset connecting rod 307 and the air cylinder tie rod head of tumble cylinder 302 pass through the second pivot pin
308 are connected.The lower section of overturning 305 internal gear wheel 306 of axle bed is provided with bearing block 309, bearing 310, is set in bearing 310
There is overturning shaft 311, overturning shaft 311 is equipped with the turning gear 312 being meshed with transmission gear 306.Overturn shaft 311
Outside sets air-actuated jaw 4, overturns the position limiting structure being provided on axle bed 305 for block overturning shaft 311.Fixture mount
301 are equipped with operation handle 5, and control unit 2 is set in operation handle 5, and control unit 2 is equipped with overturning control valve 201.Pass through
Operation overturning control valve 201 can control tumble cylinder 302 to carry out stretching motion, and then air cylinder tie rod head can be with nutating gear
306 rotations, transmission gear 306 drive overturning shaft 311 to be overturn, then air-actuated jaw 4 can be convenient with overturning shaft 311
Ground rotates；Position limiting structure can efficiently control the angle that overturning shaft 311 rotates.
Embodiment 2, a kind of pure air assisted robot arm device, the air-actuated jaw 4 include being fixed at overturning shaft
Clamp connecting plate 401 on 311 is fixedly installed sliding rail 402 on clamp connecting plate 401, and one end of sliding rail 402 is fixedly installed
First claw 403, the other end are movably set with the second claw 404, and the second claw 404 is fixed at matches with the slip of sliding rail 402
On the sliding rack 405 of conjunction, the clamping for sliding rack 405 to be driven to be slided in sliding rail 313 is provided between clamp connecting plate 401
Cylinder 406, described control unit 2 further include the pinch control valve 202 that control clamping cylinder 406 acts.Pass through clamping cylinder 406
The second claw 404 is driven to move, while the first claw 403 is fixed, can not only realize the clamping and expansion of fixture, but also
Only there are one claw movement structure is simple, compact, while making easy to produce.
The other structures of the present embodiment are same as Example 1.
Embodiment 3, a kind of pure air assisted robot arm device, the upset connecting rod 307 be arc, the transmission gear
306 be sector gear, and the upset connecting rod 307 of arc is set with sector gear for integral type.Upset connecting rod 307 is set as arc
Shape can act with tumble cylinder 304 and equably transmission gear 306 be pushed to rotate, and then overturning shaft 311 is made equably to turn
It is dynamic, it can accurately shut down to be processed workpiece in different location.
The other structures of the present embodiment are same as Example 1.
Embodiment 4, a kind of pure air assisted robot arm device, the position limiting structure include being arranged on overturning axle bed 305
Two bolt blocks 701 in outside, two bolt blocks 701 are arranged in same level and symmetrical, in two bolt blocks 701
Caging bolt 702 is both provided with, the shaft end of overturning shaft 311 is fixedly installed connecting flange 703, connecting flange 703 and fixture
Connecting plate 401 is fixedly connected, and the side of connecting flange 703 is provided with the limited block 704 coordinated with 702 block of caging bolt.Even
The setting of acting flange 703 can fully ensure that the reliability that clamp connecting plate 401 is connect with overturning shaft 311；By position limiting structure
Caging bolt 702 and 704 matched form of limited block are designed as, can not only realize the rotary spacing of overturning shaft 311, and
And caging bolt is adjustable about 702, and then can realize the adjusting for limiting overturning shaft 311 corner.
The other structures of the present embodiment are same as Example 1.
Embodiment 5, a kind of pure air assisted robot arm device, the air cylinder tie rod head of the clamping cylinder 406 are hinged with company
Fishplate bar 407, connecting plate 407 are fixedly connected with the sliding rack 405, and the pedestal of clamping cylinder 406 is hinged on and 407 left side of connecting plate
On first claw 403 of right corresponding position.The both ends of clamping cylinder 406 are cut with scissors respectively with 407 and first claw of connecting plate, 403 phase
It connects, can be interfered to avoid clamping cylinder 406 in action with other components and locks, fully ensured that air-actuated jaw 4
Reliability.
The other structures of the present embodiment are same as Example 2.
Embodiment 6, a kind of pure air assisted robot arm device, the inside of 403 and second claw 404 of the first claw are set
Soft jaw 408 is equipped with, the end set of soft jaw 408 is useful for the block 409 of block workpiece.Soft jaw 408 can be to avoid folder
It held clamping of workpieces to be damaged, block 409 is further ensured that the reliability of clamping workpiece.
The other structures of the present embodiment are same as Example 5.
The not detailed part of the present invention is routine techniques known in those skilled in the art.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (6)
1. a kind of pure air assisted robot arm device, including universal mechanical arm（1）, control unit（2）And switching mechanism（3）,
It is characterized in that：The switching mechanism（3）Including with universal mechanical arm（1）Connected fixture mount（301）, air-actuated jaw（4）, gas
Dynamic driving mechanism, pneumatic drive mechanism includes and fixture mount（301）The tumble cylinder of connection（304）, tumble cylinder（304）'s
Air cylinder tie rod head is hinged with upset connecting rod（307）, fixture mount（301）End be fixedly connected with overturning axle bed（305）, overturning
Axle bed（305）It is inside provided with and upset connecting rod（307）Connected transmission gear（306）, overturn axle bed（305）Lower section be provided with
Transmission gear（306）The overturning shaft of drive connection（311）, overturn shaft（311）The upper setting air-actuated jaw（4）, overturning
Axle bed（305）On be provided with for block overturn shaft（311）Position limiting structure, described control unit（2）It is overturn including control
Cylinder（304）The overturning control valve of action（201）.
2. pure air assisted mechanical arm according to claim 1, it is characterised in that：The upset connecting rod（307）For arc,
The transmission gear（306）For sector gear, shaft is overturn（311）On be provided with the turning gear engaged with sector gear
（312）, the upset connecting rod of curved rod（307）With fan-shaped transmission gear（306）It is set for integral type.
3. pure air assisted mechanical arm according to claim 1, it is characterised in that：The position limiting structure includes being arranged on turning over
Shaft seat（305）Outside two bolt blocks（701）, two bolt blocks（701）It is arranged in same level and left and right pair
Claim, two bolt blocks（701）Inside it is both provided with caging bolt（702）, overturn shaft（311）Shaft end be fixedly installed connection method
It is blue（703）, connecting flange（703）Side be provided with and caging bolt（702）The limited block of block cooperation（704）.
4. according to the pure air assisted mechanical arm of claim 1-3 any one of them, it is characterised in that：The air-actuated jaw（4）
Including being fixed at overturning shaft（311）On clamp connecting plate（401）, clamp connecting plate（401）On be fixedly installed cunning
Rail（402）, sliding rail（402）One end be fixedly installed the first claw（403）, the other end be movably set with the second claw（404）,
Second claw（404）It is fixed at and sliding rail（402）The sliding rack being slidably matched（405）On, clamp connecting plate（401）Between
It is provided with to drive sliding rack（405）In sliding rail（402）The clamping cylinder of interior slip（406）, described control unit（2）Also wrap
Include control clamping cylinder（406）The pinch control valve of action（202）.
5. pure air assisted mechanical arm according to claim 4, it is characterised in that：The clamping cylinder（406）Cylinder
Drawhead is hinged with connecting plate（407）, connecting plate（407）With the sliding rack（405）It is fixedly connected, clamping cylinder（406）'s
Pedestal is hinged on and connecting plate（407）First claw of left and right corresponding position（403）On.
6. pure air assisted mechanical arm according to claim 5, it is characterised in that：First claw（403）With second
Claw（404）Inside be provided with soft jaw（408）, soft jaw（408）End set be useful for the block of block workpiece
（409）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711470019.2A CN108147119A (en) | 2017-12-29 | 2017-12-29 | A kind of pure air assisted robot arm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711470019.2A CN108147119A (en) | 2017-12-29 | 2017-12-29 | A kind of pure air assisted robot arm device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108147119A true CN108147119A (en) | 2018-06-12 |
Family
ID=62463828
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711470019.2A Pending CN108147119A (en) | 2017-12-29 | 2017-12-29 | A kind of pure air assisted robot arm device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108147119A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900579A (en) * | 2019-12-17 | 2020-03-24 | 江苏昱博自动化设备有限公司 | Automatic change unloading manipulator of helping hand |
| CN113183182A (en) * | 2021-05-10 | 2021-07-30 | 河南工程学院 | Power assisting device for industrial robot |
| CN114193485A (en) * | 2021-11-02 | 2022-03-18 | 广东汇博机器人技术有限公司 | Manipulator and column helping hand arm with helping hand function |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900579A (en) * | 2019-12-17 | 2020-03-24 | 江苏昱博自动化设备有限公司 | Automatic change unloading manipulator of helping hand |
| CN110900579B (en) * | 2019-12-17 | 2020-08-07 | 江苏昱博自动化设备有限公司 | Automatic change unloading manipulator of helping hand |
| CN113183182A (en) * | 2021-05-10 | 2021-07-30 | 河南工程学院 | Power assisting device for industrial robot |
| CN114193485A (en) * | 2021-11-02 | 2022-03-18 | 广东汇博机器人技术有限公司 | Manipulator and column helping hand arm with helping hand function |
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