CN108237529A - A kind of autoamtic boosting assembly manipulator - Google Patents
A kind of autoamtic boosting assembly manipulator Download PDFInfo
- Publication number
- CN108237529A CN108237529A CN201611212747.9A CN201611212747A CN108237529A CN 108237529 A CN108237529 A CN 108237529A CN 201611212747 A CN201611212747 A CN 201611212747A CN 108237529 A CN108237529 A CN 108237529A
- Authority
- CN
- China
- Prior art keywords
- arm
- hinge pin
- mechanical
- driving cylinder
- boosting assembly
- 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.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of autoamtic boosting assembly manipulators, including pedestal and coupled arm, one end of the pedestal is provided with bumper and absorbing shock layer, one end of the bumper and absorbing shock layer is provided with rotating basis, one end of the rotating basis is provided with the first driving cylinder, one end of the rotating basis is provided with swing arm, and one end of swing arm is flexibly connected with shaft, one end of the first driving cylinder is connected with first mechanical arm, and first mechanical arm passes through the first hinge pin and the second driving cylinders, one end of the second driving cylinder is connected by the second hinge pin with second mechanical arm, one end of the second mechanical arm is provided with third hinge pin, one end of the third hinge pin is fixed on connecting plate.The present invention by mechanical paw by being divided into two-stage structure, and a segment structure is claw bar, and another end structure is pawl arm, and is attached with the 5th hinge pin, and the angle formed between claw bar and pawl arm uses enhanced convenience between 30 degree and 120 degree.
Description
Technical field
The present invention relates to manipulator technical field, specially a kind of autoamtic boosting assembly manipulator.
Background technology
At present, with the continuous development of science and technology, flow line production entering in major industrial production gradually,
Manipulator produces on assembly line and accounts for the overwhelming majority, such as bonding machine manipulator, automotive lacquer manipulator etc., instead of people
Work operates, and largely improves efficiency during production so that the benefit of enterprise increases rapidly, improves people to a certain extent
Quality of life, but nowadays, the structure of used manipulator is more complicated in the market, and function is relatively simple, and
Mechanical paw flexibility is relatively low, and the wear-resisting property of top junction is poor.
Invention content
It is mentioned above in the background art to solve the purpose of the present invention is to provide a kind of autoamtic boosting assembly manipulator
The problems such as mechanical paw flexibility is relatively low and the wear-resisting property of top junction is poor.
To achieve the above object, the present invention provides following technical solution：A kind of autoamtic boosting assembly manipulator, including pedestal
And coupled arm, one end of the pedestal are provided with bumper and absorbing shock layer, one end of the bumper and absorbing shock layer is provided with rotating basis, institute
The one end for stating rotating basis is provided with the first driving cylinder, and one end of the rotating basis is provided with swing arm, and one end of swing arm
It is flexibly connected with shaft, one end of the first driving cylinder is connected with first mechanical arm, and first mechanical arm passes through the first hinge
Pin and the second driving cylinders, one end of the second driving cylinder is connected by the second hinge pin with second mechanical arm, described
One end of second mechanical arm is provided with third hinge pin, and one end of the third hinge pin is fixed on connecting plate, the connecting plate
One end is provided with connecting shaft, and the other end of the connecting plate is provided with coupled arm, and one end of the coupled arm passes through shaft and company
Fishplate bar is connected, and one end of the coupled arm is connected by the 4th hinge pin with manipulator connecting rod, under the manipulator connecting rod
End is provided with mechanical paw.
Preferably, the manipulator connecting rod is connected by 360 degree rotation axis with drive chamber, and the inside of the drive chamber is set
It is equipped with robot drives cylinder.
Preferably, buffering pneumatic cushion is provided at the top of the drive chamber, and buffering pneumatic cushion is arranged on 360 degree rotation axis and machine
Between tool hand-drive cylinder.
Preferably, the mechanical paw is set as two sections, and one section is claw bar, and another section is cleft hand, and is used between two sections
5th hinge pin is connected.
Preferably, the claw bar on the mechanical paw is connected with one end of gripper motion bar, and the mechanical paw is symmetrical
A diamond shape is presented in distribution.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention between rotating basis and pedestal by setting
There is bumper and absorbing shock layer, the vibrations brought during rotating basis operating can be effectively reduced, so that mechanical paw is in operation
It is more accurate, and the service life of equipment can also be extended, manipulator connecting rod passes through 360 degree rotation axis and mechanical paw phase
Even, in operation so that the flexibility of mechanical paw is stronger, and the rotation of angle is more random, increases mechanical paw
Smart, by the way that mechanical paw is divided into two-stage structure, a segment structure is claw bar, and another end structure is pawl arm, and with the 5th
Hinge pin is attached, and the angle formed between claw bar and pawl arm uses more square between 30 degree and 120 degree
Just, practicability is stronger.
Description of the drawings
Fig. 1 is a kind of overall structure diagram of autoamtic boosting assembly manipulator of the present invention；
Fig. 2 is a kind of schematic internal view of autoamtic boosting assembly manipulator of the present invention.
In figure：1- pedestals, 2- bumper and absorbing shocks layer, 3- rotating basis, 4- first drive cylinder, 5- first mechanical arms, 6- the
One hinge pin, 7- second drive cylinder, the second hinge pins of 8-, 9- swing arms, 10- second mechanical arms, 11- thirds hinge pin, 12- connecting shafts,
13- connecting plates, 14- shafts, 15- coupled arms, the 4th hinge pins of 16-, 17- manipulators connecting rod, 18-360 degree rotary shaft, 19- drive
Dynamic room, 20- mechanical paws, the 5th hinge pins of 21-, 22- grippers motion bar, 23- grippers driving cylinder, 24- buffering pneumatic cushions.
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 without making creative work
Embodiment shall fall within the protection scope of the present invention.
- 2 are please referred to Fig.1, a kind of embodiment provided by the invention：A kind of autoamtic boosting assembly manipulator, including 1 He of pedestal
Coupled arm 15, one end of pedestal 1 are provided with bumper and absorbing shock layer 2, and one end of bumper and absorbing shock layer 2 is provided with rotating basis 3, rotates base
One end of seat 3 is provided with the first driving cylinder 4, and one end of rotating basis 3 is provided with swing arm 9, and one end of swing arm 9 and shaft 14
Flexible connection, one end of the first driving cylinder 4 are connected with first mechanical arm 5, and first mechanical arm 5 passes through the first hinge pin 6 and the
Two driving cylinders 7 are connected, and one end of the second driving cylinder 7 is connected by the second hinge pin 8 with second mechanical arm 10, second mechanical arm
10 one end is provided with third hinge pin 11, and one end of third hinge pin 11 is fixed on connecting plate 13, one end setting of connecting plate 13
There is connecting shaft 12, the other end of connecting plate 13 is provided with coupled arm 15, and one end of coupled arm 15 passes through shaft 14 and connecting plate 13
It is connected, one end of coupled arm 15 is connected by the 4th hinge pin 16 with manipulator connecting rod 17, and the lower end of manipulator connecting rod 17 is set
It is equipped with mechanical paw 20.
Manipulator connecting rod 17 is connected by 360 degree rotation axis 18 with drive chamber 19, and drive chamber 19 is internally provided with machine
Tool hand-drive cylinder 23 provides the power of the operation of mechanical paw 20.
The top of drive chamber 19 is provided with buffering pneumatic cushion 24, and buffering pneumatic cushion 24 is arranged on 360 degree rotation axis 18 and machinery
Between hand-drive cylinder 23, buffering pneumatic cushion 24 is effectively reduced frictional force when mechanical paw 20 is run.
Mechanical paw 20 is set as two sections, and one section is claw bar, and another section is cleft hand, and with the 5th hinge pin 21 between two sections
It is connected so that mechanical paw 20 is more flexible when running.
Claw bar on mechanical paw 20 is connected with one end of gripper motion bar 22, and mechanical paw 20 is symmetrical, presents
One diamond shape so that operation is more simple.
Specifically used mode：In present invention work, power on, open power initialization button, equipment brings into operation, and rotates
One end of pedestal 3 is provided with the first driving cylinder 4, and the tail portion of the first driving cylinder 4 is provided with first mechanical arm 5, the
Under the action of one driving cylinder 4, first mechanical arm 5 is started to work, and the end of first mechanical arm 5 by the first hinge pin 6 with
Second driving cylinder 7 is connected, so that the second driving cylinder 7 drives second mechanical arm 10 to start to work, second mechanical arm 10
One end be connected on connecting plate 13 by third hinge pin 11, then under the action of shaft 14 so that coupled arm 15 start work
Make, one end of coupled arm 15 is connected with manipulator connecting rod 17, and manipulator connecting rod 17 passes through 360 degree rotation axis 18 and machine
Tool hand claw 20 connects together, so that mechanical paw 20 carries out the operation of corresponding program, package unit entire run.
It is obvious to a person skilled in the art that the present invention is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requirement rather than above description limit, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference numeral in claim should not be considered as to the involved claim of limitation.
Claims (5)
1. a kind of autoamtic boosting assembly manipulator, including pedestal (1) and coupled arm (15), it is characterised in that：The pedestal (1)
One end is provided with bumper and absorbing shock layer (2), and one end of the bumper and absorbing shock layer (2) is provided with rotating basis (3), the rotating basis
(3) one end is provided with the first driving cylinder (4), and one end of the rotating basis (3) is provided with swing arm (9), and swing arm (9)
One end is flexibly connected with shaft (14), and one end of the first driving cylinder (4) is connected with first mechanical arm (5), and the first machine
Tool arm (5) is connected by the first hinge pin (6) with the second driving cylinder (7), and one end of the second driving cylinder (7) passes through second
Hinge pin (8) is connected with second mechanical arm (10), and one end of the second mechanical arm (10) is provided with third hinge pin (11), and described
One end of three hinge pins (11) is fixed on connecting plate (13), and one end of the connecting plate (13) is provided with connecting shaft (12), described
The other end of connecting plate (13) is provided with coupled arm (15), and one end of the coupled arm (15) passes through shaft (14) and connecting plate
(13) it is connected, one end of the coupled arm (15) is connected by the 4th hinge pin (16) with manipulator connecting rod (17), the machinery
The lower end of hand connecting rod (17) is provided with mechanical paw (20).
2. a kind of autoamtic boosting assembly manipulator according to claim 1, it is characterised in that：The manipulator connecting rod
(17) it is connected by 360 degree rotation axis (18) with drive chamber (19), the drive chamber (19) is internally provided with robot drives
Cylinder (23).
3. a kind of autoamtic boosting assembly manipulator according to claim 2, it is characterised in that：The top of the drive chamber (19)
Portion is provided with buffering pneumatic cushion (24), and buffering pneumatic cushion (24) is arranged on 360 degree rotation axis (18) and robot drives cylinder (23)
Between.
4. a kind of autoamtic boosting assembly manipulator according to claim 1, it is characterised in that：The mechanical paw (20) sets
Two sections are set to, one section is claw bar, and another section is cleft hand, and is connected between two sections with the 5th hinge pin (21).
5. a kind of autoamtic boosting assembly manipulator according to claim 4, it is characterised in that：On the mechanical paw (20)
Claw bar be connected with one end of gripper motion bar (22), the mechanical paw (20) is symmetrical, present a diamond shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611212747.9A CN108237529A (en) | 2016-12-25 | 2016-12-25 | A kind of autoamtic boosting assembly manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611212747.9A CN108237529A (en) | 2016-12-25 | 2016-12-25 | A kind of autoamtic boosting assembly manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108237529A true CN108237529A (en) | 2018-07-03 |
Family
ID=62703865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611212747.9A Withdrawn CN108237529A (en) | 2016-12-25 | 2016-12-25 | A kind of autoamtic boosting assembly manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108237529A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109268915A (en) * | 2018-09-21 | 2019-01-25 | 中山市建成机电设备制造有限公司 | A kind of oil heater production line automatic fuelling device |
| CN109760019A (en) * | 2019-02-19 | 2019-05-17 | 广州炬森自动化设备有限公司 | It is a kind of for grabbing the gripper of universal joint attachment base |
| WO2023044995A1 (en) * | 2021-09-27 | 2023-03-30 | 烟台杰瑞石油装备技术有限公司 | Automatic dismounting and mounting system and method for plunger pump |
-
2016
- 2016-12-25 CN CN201611212747.9A patent/CN108237529A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109268915A (en) * | 2018-09-21 | 2019-01-25 | 中山市建成机电设备制造有限公司 | A kind of oil heater production line automatic fuelling device |
| CN109760019A (en) * | 2019-02-19 | 2019-05-17 | 广州炬森自动化设备有限公司 | It is a kind of for grabbing the gripper of universal joint attachment base |
| WO2023044995A1 (en) * | 2021-09-27 | 2023-03-30 | 烟台杰瑞石油装备技术有限公司 | Automatic dismounting and mounting system and method for plunger pump |
| US11815087B2 (en) | 2021-09-27 | 2023-11-14 | Yantai Jereh Petroleum Equipment & Technologies Co., Ltd. | Automatic system and method for disassembly and assembly of plunger pumps |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180703 |