CN108705528A - A kind of manipulator of accurate positioning - Google Patents
A kind of manipulator of accurate positioning Download PDFInfo
- Publication number
- CN108705528A CN108705528A CN201810877400.9A CN201810877400A CN108705528A CN 108705528 A CN108705528 A CN 108705528A CN 201810877400 A CN201810877400 A CN 201810877400A CN 108705528 A CN108705528 A CN 108705528A
- Authority
- CN
- China
- Prior art keywords
- principal arm
- arm bar
- bar
- head
- manipulator
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of manipulators of accurate positioning, including head tree, rotation pole, principal arm bar connecting plate, head tree head and air-path control system, head tree upper end is connected with rotation pole, and head tree head is housed on rotation pole, and head tree head is connected with air-path control system；Principal arm bar A, principal arm bar B and telescopic cylinder, their threes are connected by bearing holder (housing, cover) with principal arm bar connecting plate；Auxiliary swing mechanism, auxiliary bar and forearm rotary mechanism, auxiliary swing mechanism one end are connected by bearing holder (housing, cover) with the principal arm bar A, principal arm bar B, and the other end is connect with auxiliary bar, and the auxiliary bar other end is connected with forearm rotary mechanism；Fixture, fixture are connected with the forearm rotary mechanism, and vision positioning device is installed in the fixture bottom end.Vision positioning device is arranged in clamp base in manipulator of the present invention, improves positioning accuracy.
Description
Technical field
The present invention relates to manipulator fields, and in particular to a kind of manipulator of accurate positioning.
Background technology
Existing manipulator is made of Robotic Host (matching external hanging type air accumulator), control system, fixture.Current helps
There are following items technical disadvantages for power manipulator：(1) Robotic Host configuration aspects are unfavorable for packed and transported, and in-site installation is numerous
Trivial, heavy workload is replaced in later stage maintenance, and manipulator external hanging type air accumulator in operation easily collides；(2) manipulator gas circuit control
When system load processed main air supply source interrupt suddenly host armed lever quickly drop, maloperation release key can cause chuck jaws open production
Product fall, and cause certain danger and loss：(3) it when single heating rod damages, is such as changed without and easily extrusion die is caused to add
Heat is uneven, final product quality is influenced, in addition, existing many manipulators need manpower auxiliary operation, even if certain manipulators can
To be automatically brought into operation, there is also the problems of positioning accuracy difference.
Invention content
The purpose of the present invention is to provide a kind of manipulators of accurate positioning, to solve manipulator peace in the prior art
Full property is poor, positioning accuracy difference problem.
The present invention provides a kind of manipulator of accurate positioning, including it is head tree, rotation pole, principal arm bar connecting plate, main vertical
Column head and air-path control system, head tree lower end are fixed, and upper end is connected with rotation pole, and head tree machine is housed on rotation pole
Head, head tree head are connected with air-path control system；
Principal arm bar A, principal arm bar B and telescopic cylinder, it is parallel to each other between their threes and pass through bearing holder (housing, cover) and principal arm bar connects
Fishplate bar is connected；
Auxiliary swing mechanism, auxiliary bar and forearm rotary mechanism, auxiliary swing mechanism one end pass through bearing holder (housing, cover) and the principal arm
Bar A, principal arm bar B are connected, and the other end is connect with auxiliary bar, and the auxiliary bar other end is connected with forearm rotary mechanism；
Fixture, fixture are connected with the forearm rotary mechanism, and vision positioning device is installed in the fixture bottom end.
Further, the fixed mode in head tree lower end is that tripod support is fixed.
Further, the principal arm bar A and principal arm bar B is retractable structure.
Further, the rotation pole is equipped with disk type brake device.
Further, the auxiliary swing mechanism and forearm rotary mechanism are equipped with disk type brake device.
Advantageous effect using aforementioned present invention technical solution is：
The manipulator of accurate positioning of the present invention is not only facilitated by the sophisticated design and addition air-path control system in structure
Packed and transported, in-site installation, later stage maintenance, and make operating process laborsaving, efficient, accurate, safe, prevent maloperation to the person
Or workpiece damages；In addition, vision positioning device is arranged in clamp base in the manipulator, positioning accuracy is improved.
Description of the drawings
Fig. 1 is the robot manipulator structure schematic diagram of accurate positioning of the present invention；
In attached drawing, parts list represented by the reference numerals are as follows：
11- head trees, 12- rotation poles, 13- principal arm bar connecting plates, 11 head of 16- head trees, 14- air-path control systems, 15- axis
Bearing sleeve, 21- principal arm bar A, 22- principal arm bar B, 23- telescopic cylinders, 31- auxiliary swing mechanisms, 32- auxiliary bars, 33- forearm rotaries
Mechanism, 40- fixtures, 41- vision positioning devices.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.
As shown in Figure 1, a kind of manipulator of accurate positioning of the embodiment of the present invention, including head tree 11, rotation pole 12, principal arm
Bar connecting plate 13, head tree head 16 and air-path control system 14,11 lower end of head tree are fixed, upper end and 12 phase of rotation pole
Even, head tree head 16 is housed on rotation pole 12, head tree head 16 is connected with air-path control system 14；Principal arm bar A21, principal arm
Bar B22 and telescopic cylinder 23, it is parallel to each other between their threes and be connected with principal arm bar connecting plate 13 by bearing holder (housing, cover) 15；
Auxiliary swing mechanism 31, auxiliary bar 32 and forearm rotary mechanism 33,31 one end of auxiliary swing mechanism pass through bearing holder (housing, cover) 15 and institute
It states principal arm bar A21, principal arm bar B22 to be connected, the other end is connect with auxiliary bar 32,32 other end of auxiliary bar and forearm rotary mechanism 33
It is connected；Fixture 40, fixture 40 are connected with the forearm rotary mechanism 33, and vision positioning device 41 is installed in 40 bottom end of the fixture.
In the embodiment, vision positioning device 41 and air-path control system 14 are electrically connected, and vision positioning device 41 gives air-path control system
14 coherent signals realize the crawl and release of workpiece by air-path control system 14, and the principal arm bar A21 and principal arm bar B22 are
Retractable structure improves the scope of application of manipulator.
Further, the fixed mode in 11 lower end of the head tree is that tripod support is fixed.
Further, the rotation pole 12 is equipped with disk type brake device, the auxiliary swing mechanism 31 and forearm rotary mechanism
33 are equipped with disk type brake device, further increase the safety and accuracy of operation.
The manipulator of accurate positioning of the present invention, by the sophisticated design and addition air-path control system in structure, not only
Instant packed transport, in-site installation, later stage maintenance, and make operating process laborsaving, efficient, accurate, safe, prevent maloperation pair
The person or workpiece damage；In addition, vision positioning device is arranged in clamp base in the manipulator, positioning accuracy is improved.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that：Its according to
So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into
Row equivalent replacement；And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (5)
1. a kind of manipulator of accurate positioning, which is characterized in that including head tree, rotation pole, principal arm bar connecting plate, head tree machine
Head and air-path control system, head tree lower end are fixed, and upper end is connected with rotation pole, and head tree head is housed on rotation pole, main
The gentle path control system of column head is connected；
Principal arm bar A, principal arm bar B and telescopic cylinder, it is parallel to each other between their threes and pass through bearing holder (housing, cover) and principal arm bar connects
Fishplate bar is connected；
Auxiliary swing mechanism, auxiliary bar and forearm rotary mechanism, auxiliary swing mechanism one end pass through bearing holder (housing, cover) and the principal arm
Bar A, principal arm bar B are connected, and the other end is connect with auxiliary bar, and the auxiliary bar other end is connected with forearm rotary mechanism；
Fixture, fixture are connected with the forearm rotary mechanism, and vision positioning device is installed in the fixture bottom end.
2. the manipulator of accurate positioning according to claim 1, which is characterized in that the fixed mode in head tree lower end
It supports and fixes for tripod.
3. the manipulator of accurate positioning according to claim 1, which is characterized in that the principal arm bar A and principal arm bar B is can
Stretching structure.
4. the manipulator of accurate positioning according to claim 1, which is characterized in that the rotation pole is equipped with disk type brake
Device.
5. the manipulator of accurate positioning according to claim 1, which is characterized in that the auxiliary swing mechanism and forearm return
Rotation mechanism is equipped with disk type brake device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810877400.9A CN108705528A (en) | 2018-08-03 | 2018-08-03 | A kind of manipulator of accurate positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810877400.9A CN108705528A (en) | 2018-08-03 | 2018-08-03 | A kind of manipulator of accurate positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108705528A true CN108705528A (en) | 2018-10-26 |
Family
ID=63875469
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810877400.9A Pending CN108705528A (en) | 2018-08-03 | 2018-08-03 | A kind of manipulator of accurate positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108705528A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0152594A2 (en) * | 1984-02-18 | 1985-08-28 | Telefunken Systemtechnik Gmbh | Means for recording, analysing by measuring techniques, and/or controlling successive phases of technical processes |
| CN202147277U (en) * | 2011-07-23 | 2012-02-22 | 莱芜精瑞模具有限公司 | Pneumatic self-balancing type manipulator |
| CN204195775U (en) * | 2014-07-10 | 2015-03-11 | 无锡宝莱机械设备科技有限公司 | A kind of boosting manipulator |
| CN104908027A (en) * | 2015-06-18 | 2015-09-16 | 南京理工大学 | Wheel hub workblank feeding and discharging pneumatic balanced power-assisted manipulator |
| CN107378940A (en) * | 2017-07-21 | 2017-11-24 | 蚌埠学院 | A kind of all-hydraulic autonomous mechanical arm and its method of operating |
| CN207223976U (en) * | 2017-04-19 | 2018-04-13 | 苏州大得机械科技有限公司 | A kind of Novel pneumatic manipulator |
-
2018
- 2018-08-03 CN CN201810877400.9A patent/CN108705528A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0152594A2 (en) * | 1984-02-18 | 1985-08-28 | Telefunken Systemtechnik Gmbh | Means for recording, analysing by measuring techniques, and/or controlling successive phases of technical processes |
| CN202147277U (en) * | 2011-07-23 | 2012-02-22 | 莱芜精瑞模具有限公司 | Pneumatic self-balancing type manipulator |
| CN204195775U (en) * | 2014-07-10 | 2015-03-11 | 无锡宝莱机械设备科技有限公司 | A kind of boosting manipulator |
| CN104908027A (en) * | 2015-06-18 | 2015-09-16 | 南京理工大学 | Wheel hub workblank feeding and discharging pneumatic balanced power-assisted manipulator |
| CN207223976U (en) * | 2017-04-19 | 2018-04-13 | 苏州大得机械科技有限公司 | A kind of Novel pneumatic manipulator |
| CN107378940A (en) * | 2017-07-21 | 2017-11-24 | 蚌埠学院 | A kind of all-hydraulic autonomous mechanical arm and its method of operating |
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Legal Events
| 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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181026 |
|
| WD01 | Invention patent application deemed withdrawn after publication |