CN108942896A - A kind of clamping stability manipulator and its operating method suitable for tubing - Google Patents
A kind of clamping stability manipulator and its operating method suitable for tubing Download PDFInfo
- Publication number
- CN108942896A CN108942896A CN201811046133.7A CN201811046133A CN108942896A CN 108942896 A CN108942896 A CN 108942896A CN 201811046133 A CN201811046133 A CN 201811046133A CN 108942896 A CN108942896 A CN 108942896A
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- CN
- China
- Prior art keywords
- arm
- tubing
- type fixture
- clamping stability
- rotation
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- 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.)
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Classifications
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- 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
- B25J13/00—Controls for manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of clamping stability manipulators and its operating method suitable for tubing, including cable, control panel, pedestal, support arm, bearing, driving wheel, basic arm, steering engine, sliding block, motion arm, camera, L-type fixture, clip tooth, rubber pad, magnet, shaft, expansion bracket, signal wire, handheld operation device, the cable is connect with base side internal electric, the base upper surface and control panel are rotatablely connected, the control panel upper end is vertical with support arm to be fixedly connected, the clamping tubing that a kind of clamping stability manipulator and its operating method suitable for tubing proposed by the present invention can keep its stable by L-type fixture and rotation clip tooth, and it is internally provided with anti-skid rubber cushion and blocks tubing, it is applicable in its stable holding operation, relevance grade is improved to greatest extent, reduce required workload, reduce work at This, improves the efficiency of work.
Description
Technical field
The invention belongs to manipulator fields more particularly to a kind of suitable for the clamping stability manipulator of tubing and its operation
Method.
Background technique
Certain holding functions that manpower and arm can be imitated, to by fixed routine crawl, carrying object or operational instrument
Automatic pilot.Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can replace people
Heavy labor to realize the mechanization and automation of production, can be operated under hostile environment to protect personal safety, thus wide
It is general to be applied to the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Compared with manual operation, manipulator is often more suitable for the task of those too " slow-witted, dirty or dangerous ".Civilian side
Face, the extensive application of pipe clamping cutting etc. industry, mankind itself are difficult to set foot in most cases, therefore are directed to this
One status, there is an urgent need to develop a kind of clamping stability manipulators and its operating method suitable for tubing, greatly expand
The purposes of manipulator itself is suitable for really needing for stable holding tubing to meet, reduces the wasting of resources, and reduction is produced into
This.
Summary of the invention
Be unable to stable holding tubing to solve the prior art, and manual operation is dangerous, cause production efficiency low and
In the case where being unfavorable for tubing subsequent operation, the present invention provide it is a kind of can stable holding the clamping stability machine suitable for tubing
Tool hand and its operating method.
The present invention adopted the technical scheme that solve well-known technique: a kind of suitable for tubing
Clamping stability manipulator, including cable, control panel, pedestal, support arm, bearing, driving wheel, basic arm, steering engine, sliding block, behaviour
Make arm, camera, L-type fixture, clip tooth, rubber pad, magnet, shaft, expansion bracket, signal wire, handheld operation device, the cable
It is connect with base side internal electric, the base upper surface and control panel are rotatablely connected, the control panel upper end and support arm
It is vertically fixedly connected, the support arm upper end is hinged with the rotation of the bearing of annular structure, the bearing and basic arm lower end
Rotation is hinged, driving wheel is equipped with inside the basic arm, the basic arm upper end and steering engine rotation are hinged, the steering engine and cylinder
The rotation of shape motion arm is hinged, the expansion bracket along inner wall is equipped with inside the motion arm, the top side of the expansion bracket is equipped with
The top of sliding block, the cylindric motion arm is fixedly connected with magnet, the cylindric motion arm tip edge by shaft with
A pair of symmetrical L-type fixture rotation is hinged, and the top of the L-type fixture is equipped with clip tooth, motion arm surface upper end side
It is fixedly connected with camera, is fixedly connected on the inside of the L-type fixture with rubber pad, the control panel passes through signal wire and hand-held
The connection of operator internal electric.
Further, the handheld operation device is the hand-holdable formula cable operator device based on position high-speed CPU.
Further, the L-type fixture is the L-shaped iron anti-skidding manipulator fixture in cross section.
Further, the hinged shaft of the clip tooth and rotation that the L-type fixture and its top are equipped with is with motion arm
Central axes axisymmetricly structure.
Further, the spring structure frame that the expansion bracket is extending to two meters.
A kind of clamping stability manipulator and its operating method suitable for tubing proposed by the present invention, including following step
It is rapid:
A. first ensure that there is no problem for total system operating, electric signal connection is reliable, it is ensured that without short circuit or signal
The problem of interference, next ensure motion arm and L-type fixture and expansion bracket can normal use, whether camera can be normal
Return path signal, handheld operation device can be with normal operatings；
B. according to need of work, machine is powered on by cable, is operated by handheld operation device, control support
Fixture is moved on to specified position by arm, basic arm and motion arm, and watching lower camera at this time is the image of passback back, if
If there is no problem, the expansion bracket inside motion arm is controlled, adjusts exact position；
C. it can similarly obtain, opening operation is carried out to L-type fixture later, the clip tooth on its both sides is then made to turn to the inside, lead to
The clamping for crossing friction and L-type fixture will be stuck at inner rubber pad to clamp tubing, anti-sliding stop；
D. finally, tubing is moved to designated position, machine power-off is stopped, and can be required back to first according to using
Step carries out another wheel and detects operation.
The present invention has the advantage that as follows with good effect:
1. a kind of clamping stability manipulator and its operating method suitable for tubing proposed by the present invention, passes through hand-held
Operator controls the movement of support arm, basic arm and motion arm, goes that fixture is driven to clamp carrying tubing to designated position, can
The clamping for keeping its stable by L-type fixture and rotation clip tooth and carrying tubing, and it is internally provided with anti-skid rubber cushion, it can block
Tubing is applicable in its stable holding operation.
2. a kind of clamping stability manipulator and its operating method suitable for tubing proposed by the present invention, can pass through machine
Tool hand and operator control and personnel can operate at a distance, can improve relevance grade to greatest extent, and ensure
Personal safety reduces required workload, reduces job costs, can be realized clamping and stablizes operation, improves the efficiency of work.
Detailed description of the invention
Fig. 1 is device overall structure figure provided in an embodiment of the present invention；
In figure: 1, cable；2, control panel；3, pedestal；4, support arm；5, bearing；6, driving wheel；7, basic arm；8, steering engine；
9, sliding block；10, motion arm；11, camera；12, L-type fixture；13, clip tooth；14, rubber pad；15, magnet；16, shaft；17, it stretches
Contracting frame；18, signal wire；19, handheld operation device.
Specific embodiment
In order to further understand the content, features and effects of the present invention, hereby enumerating following embodiment, and cooperate attached drawing
Detailed description are as follows.
A kind of clamping stability manipulator suitable for tubing of the invention is explained in detail below with reference to Fig. 1: one
Kind be suitable for tubing clamping stability manipulator, including cable 1, control panel 2, pedestal 3, support arm 4, bearing 5, driving wheel 6,
Basic arm 7, steering engine 8, sliding block 9, motion arm 10, camera 11, L-type fixture 12, clip tooth 13, rubber pad 14, magnet 15, shaft
16, expansion bracket 17, signal wire 18, handheld operation device 19, the cable 1 are electrically connected with 3 lateral inner of pedestal, the pedestal
3 upper surfaces and control panel 2 are rotatablely connected, and 2 upper end of control panel is vertical with support arm 4 to be fixedly connected, 4 upper end of support arm
It is rotated with the bearing of annular structure 5 hingedly, the bearing 5 and the rotation of 7 lower end of basic arm are hinged, inside the basic arm 7
Equipped with driving wheel 6,7 upper end of basic arm and steering engine 8 are rotated hingedly, and the steering engine 8 rotates hingedly with cylindric motion arm 10,
The expansion bracket 17 along inner wall is equipped with inside the motion arm 10, the top side of the expansion bracket 17 is equipped with sliding block 9, the circle
The top of column motion arm 10 is fixedly connected with magnet 15, and cylindric 10 tip edge of motion arm passes through shaft 16 and a pair
Symmetrical L-type fixture 12 rotates hingedly, and the top of the L-type fixture 12 is equipped with clip tooth 13, the 10 surface upper end of motion arm
Side is fixedly connected with camera 11, and 12 inside of L-type fixture is fixedly connected with rubber pad 14, and the control panel 2 passes through letter
Number line 18 is connect with 19 internal electric of handheld operation device, the handheld operation device 19 be based on 64 high-speed CPUs can
Hand-held cable operator device, the L-type fixture 12 are the L-shaped iron anti-skidding manipulator fixture in cross section, the L-type
The hinged shaft 16 of the clip tooth 13 and rotation that fixture 12 and its top are equipped with axisymmetricly is tied with the central axes of motion arm 10
Structure.The spring structure frame that the expansion bracket 17 is extending to two meters.
A kind of clamping stability manipulator and its operating method suitable for tubing proposed by the present invention, including following step
It is rapid:
A. first ensure that there is no problem for total system operating, electric signal connection is reliable, it is ensured that without short circuit or signal
The problem of interference, next ensure motion arm 10 and L-type fixture 12 and expansion bracket 17 can normal use, whether camera 11
Can normal return path signal, handheld operation device 19 can be with normal operating；
B. according to need of work, machine is powered on by cable 1, is operated by handheld operation device 19, control branch
Fixture is moved on to specified position by brace 4, basic arm 7 and motion arm 10, and watching lower camera 11 at this time is what passback was returned
Image controls the expansion bracket 17 inside motion arm 10 if there is no problem, adjusts exact position；
C. it can similarly obtain, opening operation is carried out to L-type fixture 12 later, turns the clip tooth 13 on its both sides inwardly
It is dynamic, it will be stuck at inner rubber pad 14 by the clamping to rub with L-type fixture 12 to clamp tubing, anti-sliding stop；
D. finally, tubing is moved to designated position, machine power-off is stopped, and can be required back to first according to using
Step carries out another wheel and detects operation.
Working principle: it in use, controlling the movement of support arm, basic arm and motion arm by handheld operation device, goes
It drives fixture to designated position to clamp carrying tubing, clamping that L-type fixture and clip tooth keep its stable and carrying tubing can be passed through
And personnel can operate at a distance, can improve relevance grade to greatest extent, and guarantee personal safety, and reduce institute
Workload is needed, job costs are reduced, clamping is can be realized and stablizes operation, improve the efficiency of work.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (6)
1. a kind of clamping stability manipulator suitable for tubing, including cable (1), control panel (2), pedestal (3), support arm
(4), bearing (5), driving wheel (6), basic arm (7), steering engine (8), sliding block (9), motion arm (10), camera (11), L-type fixture
(12), clip tooth (13), rubber pad (14), magnet (15), shaft (16), expansion bracket (17), signal wire (18), handheld operation device
(19), which is characterized in that the cable (1) and pedestal (3) lateral inner are electrically connected, pedestal (3) upper surface and control
Plate (2) rotation connection, control panel (2) upper end is vertical with support arm (4) to be fixedly connected, support arm (4) upper end with
Bearing (5) rotation of annular structure is hinged, and the bearing (5) and the rotation of basic arm (7) lower end are hinged, the basic arm (7)
Inside is equipped with driving wheel (6), and basic arm (7) upper end and steering engine (8) rotation are hinged, the steering engine (8) and cylindric operation
Arm (10) rotation is hinged, and the expansion bracket (17) along inner wall, the top of the expansion bracket (17) are equipped with inside the motion arm (10)
Side is held to be equipped with sliding block (9), the top of the cylindric motion arm (10) is fixedly connected with magnet (15), the cylindric operation
Arm (10) tip edge is hinged by shaft (16) and a pair of symmetrical L-type fixture (12) rotation, the top of the L-type fixture (12)
End is equipped with clip tooth (13), and motion arm (10) the surface upper end side is fixedly connected with camera (11), the L-type fixture
(12) inside is fixedly connected with rubber pad (14), and the control panel (2) passes through in signal wire (18) and handheld operation device (19)
Portion's electrical connection.
2. a kind of clamping stability manipulator suitable for tubing according to claim 1, it is characterised in that: the hand
Holding formula operator (19) is the hand-holdable formula cable operator device based on 64 high-speed CPUs.
3. a kind of clamping stability manipulator suitable for tubing according to claim 1, it is characterised in that: the L
Type fixture (12) is the L-shaped iron anti-skidding manipulator fixture in cross section.
4. a kind of clamping stability manipulator suitable for tubing according to claim 1, it is characterised in that: the L-type
Clip tooth (13) that fixture (12) and its top are equipped with and the hinged shaft (16) of rotation are in the central axes of motion arm (10)
Axially symmetric structure.
5. a kind of clamping stability manipulator suitable for tubing according to claim 1, it is characterised in that: described stretches
The spring structure frame that contracting frame (17) is extending to two meters.
6. according to claim 1 to a kind of operation side of clamping stability manipulator suitable for tubing described in 5 any one
Method, which comprises the following steps:
A. first ensure that there is no problem for total system operating, electric signal connection is reliable, it is ensured that without short circuit or signal interference
The problem of, next ensure motion arm (10) and L-type fixture (12) and expansion bracket (17) can normal use, camera (11)
Whether can normal return path signal, handheld operation device (19) normal operating；
B. according to need of work, machine is powered on by cable (1), is operated by handheld operation device (19), control branch
Fixture is moved on to specified position by brace (4), basic arm (7) and motion arm (10), and watching lower camera (11) at this time is back
The image sent back, if there is no problem, the internal expansion bracket (17) of control motion arm (10) adjusts exact position；
C. it can similarly obtain, opening operation is carried out to L-type fixture (12) later, turns the clip tooth (13) on its both sides inwardly
It is dynamic, it will be stuck at inner rubber pad (14) by the clamping to rub with L-type fixture (12) to clamp tubing；
D. finally, tubing is moved to designated position, machine power-off is stopped, and can be required back to the first stepping according to using
Another wheel of row detects operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811046133.7A CN108942896A (en) | 2018-09-07 | 2018-09-07 | A kind of clamping stability manipulator and its operating method suitable for tubing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811046133.7A CN108942896A (en) | 2018-09-07 | 2018-09-07 | A kind of clamping stability manipulator and its operating method suitable for tubing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108942896A true CN108942896A (en) | 2018-12-07 |
Family
ID=64476151
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811046133.7A Withdrawn CN108942896A (en) | 2018-09-07 | 2018-09-07 | A kind of clamping stability manipulator and its operating method suitable for tubing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108942896A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113976753A (en) * | 2021-10-25 | 2022-01-28 | 昆山力比格智能科技有限公司 | Full-automatic pipe contracting equipment |
| CN114311352A (en) * | 2021-12-21 | 2022-04-12 | 乐山高测新能源科技有限公司 | Silicon rod cutting and grinding system and silicon rod cutting and grinding method thereof |
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| CN101407061A (en) * | 2007-10-09 | 2009-04-15 | 上海市吴淞中学 | Multifunction manipulator |
| CN102823445A (en) * | 2012-09-22 | 2012-12-19 | 长安大学 | Vehicle-borne dwarf closely-planted jujube trimmer |
| CN205764540U (en) * | 2016-05-16 | 2016-12-07 | 南昌市日诚实业有限公司 | A kind of mechanical hand of body of a motor car support welding |
| CN206200973U (en) * | 2016-12-05 | 2017-05-31 | 王源浩 | A kind of intelligent barrier avoiding detects robot |
| CN206567705U (en) * | 2017-01-04 | 2017-10-20 | 南京交通职业技术学院 | A kind of mechanical arm welded for automobile intelligent |
| CN108908286A (en) * | 2018-08-23 | 2018-11-30 | 广州创链科技有限公司 | Industrial robot and application method are used in a kind of machinery production workshop |
| CN109014698A (en) * | 2018-09-07 | 2018-12-18 | 佛山朝鸿新材料科技有限公司 | A kind of novel welding machinery arm and application method for automobile production |
-
2018
- 2018-09-07 CN CN201811046133.7A patent/CN108942896A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101407061A (en) * | 2007-10-09 | 2009-04-15 | 上海市吴淞中学 | Multifunction manipulator |
| CN102823445A (en) * | 2012-09-22 | 2012-12-19 | 长安大学 | Vehicle-borne dwarf closely-planted jujube trimmer |
| CN205764540U (en) * | 2016-05-16 | 2016-12-07 | 南昌市日诚实业有限公司 | A kind of mechanical hand of body of a motor car support welding |
| CN206200973U (en) * | 2016-12-05 | 2017-05-31 | 王源浩 | A kind of intelligent barrier avoiding detects robot |
| CN206567705U (en) * | 2017-01-04 | 2017-10-20 | 南京交通职业技术学院 | A kind of mechanical arm welded for automobile intelligent |
| CN108908286A (en) * | 2018-08-23 | 2018-11-30 | 广州创链科技有限公司 | Industrial robot and application method are used in a kind of machinery production workshop |
| CN109014698A (en) * | 2018-09-07 | 2018-12-18 | 佛山朝鸿新材料科技有限公司 | A kind of novel welding machinery arm and application method for automobile production |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113976753A (en) * | 2021-10-25 | 2022-01-28 | 昆山力比格智能科技有限公司 | Full-automatic pipe contracting equipment |
| CN113976753B (en) * | 2021-10-25 | 2024-05-28 | 昆山力比格智能科技有限公司 | Full-automatic pipe shrinking equipment |
| CN114311352A (en) * | 2021-12-21 | 2022-04-12 | 乐山高测新能源科技有限公司 | Silicon rod cutting and grinding system and silicon rod cutting and grinding method thereof |
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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: 20181207 |