CN108839005A - Manipulator with gas storage space - Google Patents
Manipulator with gas storage space Download PDFInfo
- Publication number
- CN108839005A CN108839005A CN201811052884.XA CN201811052884A CN108839005A CN 108839005 A CN108839005 A CN 108839005A CN 201811052884 A CN201811052884 A CN 201811052884A CN 108839005 A CN108839005 A CN 108839005A
- Authority
- CN
- China
- Prior art keywords
- retainer
- mechanical arm
- storage space
- gas storage
- pedestal
- 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- Withdrawn
Links
- 238000003860 storage Methods 0.000 title claims abstract description 46
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 24
- 239000012636 effector Substances 0.000 claims abstract description 14
- 230000006835 compression Effects 0.000 claims description 15
- 238000007906 compression Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000009776 industrial production Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012544 monitoring process 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
- B25J9/00—Programme-controlled manipulators
-
- 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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- 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
- B25J19/0025—Means for supplying energy to the end effector
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of manipulators with gas storage space, including：Pedestal, retainer and end mechanical arm；The first end of retainer is movably attached to pedestal and pedestal can control retainer and move along vertical direction；The second end of retainer is flexibly connected end mechanical arm and retainer can control end mechanical arm and rotate in horizontal plane along the second end of retainer；End effector is installed on the end mechanical arm, gas storage space is installed in the inside of retainer and/or end mechanical arm, the gas storage space can provide positive air pressure and/or negative pressure for the end effector.Since gas storage space is mounted on the inside of retainer and/or end mechanical arm, so as to save space.It is also convenient for moving the manipulator.
Description
Technical field
The present invention relates to industrial production automation technical field more particularly to a kind of manipulators with gas storage space.
Background technique
With the development of society and advancement of technology, robot manipulator structure obtains more and more extensive answer in the industrial production
With for example, transporting goods commonly using robot manipulator structure realization.It is usually mounted in the end of the manipulator for transporting goods
End effector, end effector are divided to pneumatic and electronic two class, and pneumatic actuator is the most wide end effector of present purposes again.
Therefore, how to design it is a kind of for transporting goods, Pneumatic manipulator, just become a urgent problem to be solved.
Summary of the invention
The object of the invention is that providing a kind of manipulator with gas storage space.
One of in order to achieve the above-mentioned object of the invention, an embodiment of the present invention provides a kind of machinery with gas storage space
Hand, including：Pedestal, retainer and end mechanical arm；The first end of retainer is movably attached to pedestal and pedestal can control biography
Dynamic seat moves along vertical direction；The second end of retainer is flexibly connected end mechanical arm and retainer can control end machine
Tool arm is rotated in horizontal plane along the second end of retainer；End effector is installed on the end mechanical arm, is being driven
The inside of seat and/or end mechanical arm is equipped with gas storage space, and the gas storage space can provide just for the end effector
Air pressure and/or negative pressure.
As the further improvement of an embodiment of the present invention, the retainer includes：First retainer, the second retainer
With third retainer；The first end of first retainer is movably attached to pedestal and pedestal can control the first retainer along perpendicular
Histogram is to movement；The second end of first retainer is flexibly connected the first end of the second retainer and the first retainer can control
Second retainer is rotated in horizontal plane along the second end of the first retainer；The second end of second retainer is flexibly connected third and passes
It moves the first end of seat and the second retainer can control third retainer and turn in horizontal plane along the second end of the second retainer
It is dynamic；The second end of third retainer is flexibly connected end mechanical arm and third retainer can control end mechanical arm in level
Face is rotated along the second end of third retainer.
As the further improvement of an embodiment of the present invention, storage is both provided in the first retainer and end mechanical arm
Headroom.
As the further improvement of an embodiment of the present invention, it is provided in the first retainer and is capable of providing positive air pressure
Gas storage space is both provided with the gas storage space for being capable of providing negative pressure in the mechanical arm of end.
As the further improvement of an embodiment of the present invention, it is provided in the first retainer and is capable of providing negative pressure
Gas storage space is both provided with the gas storage space for being capable of providing positive air pressure in the mechanical arm of end.
As the further improvement of an embodiment of the present invention, the end effector is vacuum sucking device or cylinder class
Actuator.
As the further improvement of an embodiment of the present invention, being provided with can provide in the base for the gas storage space
Several compression pumps of gas source.
As the further improvement of an embodiment of the present invention, several compression pumps are capable of providing positive air pressure and/or bear
Air pressure.
Compared with the existing technology, the technical effects of the invention are that：It is empty with gas storage that the embodiment of the invention provides one kind
Between manipulator, including：Pedestal, retainer and end mechanical arm；The first end of retainer is movably attached to pedestal and pedestal energy
Enough control retainers move along vertical direction；The second end of retainer is flexibly connected end mechanical arm and retainer can be controlled
End mechanical arm processed is rotated in horizontal plane along the second end of retainer；End execution is installed on the end mechanical arm
Device is equipped with gas storage space in the inside of retainer and/or end mechanical arm, and the gas storage space can execute for the end
Device provides positive air pressure and/or negative pressure.Since gas storage space is mounted on the inside of retainer and/or end mechanical arm, so as to
Enough save space.It is also convenient for moving the manipulator.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the manipulator provided in an embodiment of the present invention with gas storage space.
Specific embodiment
Hereinafter, the present invention will be described in detail with reference to various embodiments shown in the accompanying drawings.But these embodiments are not
The limitation present invention, structure that those skilled in the art are made according to these embodiments, method or change functionally
It changes and is included within the scope of protection of the present invention.
The term of the representation space relative position used herein such as "upper", " top ", "lower", " lower section " is for just
A unit as shown in the drawings or feature are described relative to another unit or the relationship of feature in the purpose of explanation.It is empty
Between the term of relative position can be intended to include different direction of the equipment in use or work other than orientation as shown in the figure.
For example, the unit for being described as being located at other units or feature " below " or " under " will if the equipment in figure overturn
Positioned at other units or feature " top ".Therefore, exemplary term " lower section " can include above and below both orientation.If
It is standby to be otherwise directed (be rotated by 90 ° or other directions), and be interpreted accordingly used herein with space correlation
Language is described.
The embodiment of the invention provides a kind of manipulators with gas storage space, including：Pedestal 3, retainer 1 and end machine
Tool arm 2；The first end of retainer 1 is movably attached to pedestal 3 and pedestal 3 can control retainer 1 and move along vertical direction；
The second end of retainer 1 is flexibly connected end mechanical arm 2 and retainer 1 can control end mechanical arm 2 in horizontal plane along biography
The second end rotation of dynamic seat 1；
End effector is installed on the end mechanical arm 2, is pacified in the inside of retainer 1 and/or end mechanical arm 2
Equipped with gas storage space, the gas storage space can provide positive air pressure and/or negative pressure for the end effector.
The embodiment of the invention provides a kind of manipulators, and in the manipulator, pedestal 3 can control retainer 1 and do vertically
The movement in direction, i.e. pedestal 3 can control retainer 1 and end mechanical arm 2 does the movement of vertical direction, and 1 energy of retainer
The rotation that end mechanical arm 2 does horizontal direction along retainer 1 is enough controlled, so that end mechanical arm 2 can be in horizontal plane
Interior movement, so that the manipulator can move in three-dimensional planar, so that the flexibility of the manipulator is greatly improved, due to
The gas storage space for being capable of providing positive air pressure and/or negative pressure is installed in retainer 1 and/or end mechanical arm 2, so that last
The object for holding mechanical arm 2 tightly can adsorb residence and carry.And since gas storage space is mounted on retainer 1 and/or end
The inside of mechanical arm 2, so as to save space.
In the prior art, gas storage space is the shared infrastructure device of multiple equipment in factory, so gas storage space arrives
Connecting manipulator will arrange dedicated gas circuit, it is to be understood that when needing to move the manipulator, this unusual not side
Just, this problem is just not present in the manipulator and in the embodiment of the present invention.To be not only convenient for using and can greatly dropping
Low cost.
Preferably, the retainer 1 includes：First retainer 11, the second retainer 12 and third retainer 13；First passes
The first end of dynamic seat 11 is movably attached to pedestal 3 and pedestal 3 can control the first retainer 11 and move along vertical direction；The
The second end of one retainer 11 is flexibly connected the first end of the second retainer 12 and the first retainer 11 can control the second transmission
Seat 12 is rotated in horizontal plane along the second end of the first retainer 11；The second end of second retainer 12 is flexibly connected third transmission
Seat 13 first end and the second retainer 12 can control second of third retainer 13 in horizontal plane along the second retainer 3
End rotation；The second end of third retainer 13 is flexibly connected end mechanical arm 2 and third retainer 13 can control end machinery
Arm 2 is rotated in horizontal plane along the second end of third retainer 4.
Here, between the first retainer 11 and the second retainer 12, between the second retainer 12 and third retainer 13,
All be between third retainer 13 and end mechanical arm 2 it is rotary, can be with so as to form the structure for being similar to finger
Understand, which increase the flexibilities of the manipulator.
Preferably, gas storage space is both provided in the first retainer 11 and end mechanical arm 2.
Preferably, the gas storage space for being capable of providing positive air pressure is provided in the first retainer 11, in end mechanical arm 2
It is both provided with the gas storage space for being capable of providing negative pressure.
Preferably, the gas storage space for being capable of providing negative pressure is provided in the first retainer 11, in end mechanical arm 2
It is both provided with the gas storage space for being capable of providing positive air pressure.
Preferably, the end effector is vacuum sucking device or cylinder class actuator.
Preferably, several compression pumps of gas source can be provided for the gas storage space by being provided in pedestal 1.Here, may be used
To determine the quantity of compression pump according to actual needs, air pressure caused by the compression pump is stored in gas storage space, in gas storage
Pressure sensor can be set in space, so as to the air pressure of real-time monitoring gas tank, when in the gas tank that positive air pressure is provided just
When air pressure is less than or equal to preset minimum positive air pressure, compression pump is started to work, and when the positive air pressure in the gas tank for providing positive air pressure
More than or equal to preset maximum positive air pressure, compression pump stops working；When negative pressure is more than or equal in advance in the gas tank for providing negative pressure
If maximum negative pressure when, compression pump start to work, when provide negative pressure gas tank in negative pressure be less than or equal to it is preset most
When small negative pressure, compression pump stops working.
Preferably, several compression pumps are capable of providing positive air pressure and/or negative pressure.It here, in use, can basis
Actual demand allows whole compression pumps all to provide positive air pressure；Whole compression pumps can also be allowed all to provide negative pressure；Alternatively, part is pressed
Contracting pump all provides positive air pressure, and another part compression pump all provides negative pressure.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can for bright book
With the other embodiments of understanding.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope bright, that they are not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention
Or change should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of manipulator with gas storage space, which is characterized in that including：
Pedestal, retainer and end mechanical arm；
The first end of retainer is movably attached to pedestal and pedestal can control retainer and move along vertical direction；Retainer
Second end be flexibly connected end mechanical arm and retainer and can control second of end mechanical arm in horizontal plane along retainer
End rotation；
End effector is installed on the end mechanical arm, storage is installed in the inside of retainer and/or end mechanical arm
Headroom, the gas storage space can provide positive air pressure and/or negative pressure for the end effector.
2. manipulator according to claim 1, which is characterized in that
The retainer includes：First retainer, the second retainer and third retainer；
The first end of first retainer is movably attached to pedestal and pedestal can control the first retainer and transport along vertical direction
It is dynamic；
The second end of first retainer is flexibly connected the first end of the second retainer and the first retainer can control the second transmission
Seat is rotated in horizontal plane along the second end of the first retainer；
The second end of second retainer is flexibly connected the first end of third retainer and the second retainer can control third transmission
Seat is rotated in horizontal plane along the second end of the second retainer；
The second end of third retainer is flexibly connected end mechanical arm and third retainer can control end mechanical arm in level
Face is rotated along the second end of third retainer.
3. manipulator according to claim 2, it is characterised in that：
Gas storage space is both provided in the first retainer and end mechanical arm.
4. manipulator according to claim 2, it is characterised in that：
The gas storage space for being capable of providing positive air pressure is provided in the first retainer, being both provided in the mechanical arm of end can mention
For the gas storage space of negative pressure.
5. manipulator according to claim 2, it is characterised in that：
The gas storage space for being capable of providing negative pressure is provided in the first retainer, being both provided in the mechanical arm of end can mention
For the gas storage space of positive air pressure.
6. manipulator according to claim 1, it is characterised in that：
The end effector is vacuum sucking device or cylinder class actuator.
7. manipulator according to claim 1, it is characterised in that：
Several compression pumps of gas source can be provided for the gas storage space by being provided in the base.
8. manipulator according to claim 7, it is characterised in that：
Several compression pumps are capable of providing positive air pressure and/or negative pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811052884.XA CN108839005A (en) | 2018-09-10 | 2018-09-10 | Manipulator with gas storage space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811052884.XA CN108839005A (en) | 2018-09-10 | 2018-09-10 | Manipulator with gas storage space |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108839005A true CN108839005A (en) | 2018-11-20 |
Family
ID=64189633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811052884.XA Withdrawn CN108839005A (en) | 2018-09-10 | 2018-09-10 | Manipulator with gas storage space |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108839005A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103737572A (en) * | 2013-12-23 | 2014-04-23 | 中汽商用汽车有限公司(杭州) | Vehicle-mounted special work manipulator |
| JP2017132026A (en) * | 2016-01-30 | 2017-08-03 | ライフロボティクス株式会社 | Robot arm mechanism |
| CN206475202U (en) * | 2016-10-25 | 2017-09-08 | 温州通尔自动化有限公司 | A kind of puma manipulator |
| CN107139216A (en) * | 2017-07-07 | 2017-09-08 | 苏州工业园区凯艺精密科技有限公司 | A kind of robot manipulator structure of built-in audio identification module |
| CN206577357U (en) * | 2017-03-21 | 2017-10-24 | 河海大学 | A kind of Chinese chess Chinese-chess robot |
| CN107336240A (en) * | 2017-07-14 | 2017-11-10 | 苏州工业园区凯艺精密科技有限公司 | A kind of bottom illuminated vision system of manipulator |
| CN107471204A (en) * | 2017-09-28 | 2017-12-15 | 葛晟宏 | Manipulator and mechanical arm assembly |
| CN207402767U (en) * | 2017-09-30 | 2018-05-25 | 湖北银河彩印包装有限公司 | A kind of logistics automatic carrying machine working |
| CN208681585U (en) * | 2018-09-10 | 2019-04-02 | 苏州小工匠机器人有限公司 | Manipulator with gas storage space |
-
2018
- 2018-09-10 CN CN201811052884.XA patent/CN108839005A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103737572A (en) * | 2013-12-23 | 2014-04-23 | 中汽商用汽车有限公司(杭州) | Vehicle-mounted special work manipulator |
| JP2017132026A (en) * | 2016-01-30 | 2017-08-03 | ライフロボティクス株式会社 | Robot arm mechanism |
| CN206475202U (en) * | 2016-10-25 | 2017-09-08 | 温州通尔自动化有限公司 | A kind of puma manipulator |
| CN206577357U (en) * | 2017-03-21 | 2017-10-24 | 河海大学 | A kind of Chinese chess Chinese-chess robot |
| CN107139216A (en) * | 2017-07-07 | 2017-09-08 | 苏州工业园区凯艺精密科技有限公司 | A kind of robot manipulator structure of built-in audio identification module |
| CN107336240A (en) * | 2017-07-14 | 2017-11-10 | 苏州工业园区凯艺精密科技有限公司 | A kind of bottom illuminated vision system of manipulator |
| CN107471204A (en) * | 2017-09-28 | 2017-12-15 | 葛晟宏 | Manipulator and mechanical arm assembly |
| CN207402767U (en) * | 2017-09-30 | 2018-05-25 | 湖北银河彩印包装有限公司 | A kind of logistics automatic carrying machine working |
| CN208681585U (en) * | 2018-09-10 | 2019-04-02 | 苏州小工匠机器人有限公司 | Manipulator with gas storage space |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112405570A (en) | Robotic multi-gripper assembly and method for gripping and holding objects | |
| US9469035B2 (en) | Component supply apparatus | |
| US20210323778A1 (en) | Manufacturing Pickup Tool | |
| US20170182665A1 (en) | Robot, robot control device, and robot system | |
| JP7507284B2 (en) | Robot hand, robot and robot system | |
| CN111993448B (en) | Robotic multi-gripper assembly and method for gripping and holding objects | |
| KR101411546B1 (en) | Vacuum gripper is equipped to width adjusting means | |
| JP2014034107A (en) | Original point return method of industrial robot and industrial robot | |
| JP2013212580A (en) | Bin picking system | |
| US11278951B2 (en) | Pendular handling system for a press line | |
| CN107336212A (en) | A kind of transfer robot | |
| WO2018139574A1 (en) | Conveyance system and operation method thereof | |
| JP2013123788A (en) | Workpiece work system | |
| KR20200002804A (en) | Box packing device and box packing method | |
| CN208681585U (en) | Manipulator with gas storage space | |
| CN108839005A (en) | Manipulator with gas storage space | |
| JP2014108496A (en) | Workpiece positioning method by multi-joint robot and workpiece attachment method by multi-joint robot using the workpiece positioning method | |
| CN103802137A (en) | Visualized industrial mechanical arm | |
| CN206825051U (en) | A kind of sucker suction machining center tool | |
| CN103802107A (en) | Method for achieving industrial mechanical arm with vision | |
| CN208439973U (en) | A kind of 3D curved surface cover board driving device | |
| CN208263746U (en) | A kind of marking machine of integration packaging | |
| CN204277634U (en) | A kind of mechanical gripper | |
| CN205889152U (en) | Integral robot work station | |
| CN201769069U (en) | Suction disc type self-centering device |
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 | ||
| CB02 | Change of applicant information |
Address after: 215000 building 15, Luzhi Intelligent Manufacturing Industrial Park, No. 1, Zhangqing street, Luzhi Town, Wuzhong District, Suzhou City, Jiangsu Province Applicant after: SUZHOU XIAOGONGJIANG ROBOT Co.,Ltd. Address before: 215000 5 / F, building 2, 33 linbu street, Suzhou Industrial Park, Jiangsu Province Applicant before: SUZHOU XIAOGONGJIANG ROBOT Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181120 |
|
| WW01 | Invention patent application withdrawn after publication |