CN109227579A - A kind of powder column flexible crawl manipulator - Google Patents
A kind of powder column flexible crawl manipulator Download PDFInfo
- Publication number
- CN109227579A CN109227579A CN201810978177.7A CN201810978177A CN109227579A CN 109227579 A CN109227579 A CN 109227579A CN 201810978177 A CN201810978177 A CN 201810978177A CN 109227579 A CN109227579 A CN 109227579A
- Authority
- CN
- China
- Prior art keywords
- powder column
- resilient sleeve
- confined space
- pressurized tank
- inner hole
- 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- Withdrawn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
Classifications
-
- 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
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
- B25J15/0038—Cylindrical gripping surfaces
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of powder column flexible crawl manipulator, including finger, finger resilient sleeve made of elastomeric material is constituted；In fixed setting in confined space, confined space is connected with pressure-control valve at resilient sleeve both ends；The inner hole aperture of the resilient sleeve is greater than the powder column diameter of quasi- crawl, and at least one end aperture of inner hole is in the open state for powder column insertion；The flexible deformation that resilient sleeve is reduced by inner hole can form securely hoop to powder column and embrace.It is preferred that confined space is formed by pressurized tank, cabinet is in the multiple resilient sleeves of setting of matrix；Pressurized tank forms complete powder column flexible crawl transfer equipment by lifting cylinder, rotating arm, rotary cylinder and gas control component.The invention has the advantages that powder column crawl is secured, adjacent finger spacing is small, grain surface can obtain good protection, the security risk that no powder column slips, and can easily realize powder column variety renovation.
Description
Technical field
It is picked and placed the present invention relates to dangerous material and transfer equipment, and in particular to a kind of pick-and-place and transfer for pressing powder column
Flexible crawl manipulator.
Background technique
The powder column of system is molded using group, the crawl of powder column is generally using disposably all crawl and single two kinds of crawls one by one
Mode, crawl finger one kind are joint type manipulator finger, and another kind is vacuum chuck.Joint type manipulator finger structure is multiple
Miscellaneous, joint motions occupied space is big, and it typically is single crawls, and damage the hidden danger of grain surface.Vacuum chuck utilizes negative
Transfer is sucked from powder column top by powder column in pressure adsorption principle.Though structure is simple, because adsorption area is small, poor reliability exists easily
The security risk to fall off.For this reason, it may be necessary to be further improved.
Summary of the invention
The purpose of the present invention is to finger class robot manipulator structure complexity in the prior art and damage grain surfaces not
Foot, provides that a kind of structure is simple, and to the powder column flexible crawl manipulator that grain surface protects, and in powder column crawl, holds
It holds securely, slips hidden danger to eliminate powder column, improve safety and reliability.
To realize that foregoing purpose, the present invention adopt the following technical scheme that.
A kind of powder column flexible crawl manipulator, including finger, finger resilient sleeve made of elastomeric material are constituted；
In fixed setting in confined space, confined space is connected with pressure-control valve at the resilient sleeve both ends；The resilient sleeve
Inner hole aperture is greater than the powder column diameter of quasi- crawl, and at least one end aperture of inner hole is in the open state for powder column insertion；Elasticity
Securely hoop armful can be formed to powder column by covering the flexible deformation reduced by inner hole.
Using the present invention of preceding solution, finger forms flexible finger structure by resilient sleeve, by closed environment
Pressurization, so that its pressure is greater than the pressure of resilient sleeve and the extraneous inner hole connected, so that resilient sleeve is generated the elasticity that inner hole becomes smaller and become
Shape is clamped with forming hood type to powder column, and resilient sleeve inner wall contacts compression with powder column, will not be formed and be hurt to the smooth surface of powder column
Evil；And resilient sleeve is made of elastomeric material, banding great efforts big with the coefficient of friction of grain surface, holds jail to powder column
Gu good protection both is formd to grain surface, meanwhile, the reliability of clamping is provided, safety has been correspondinglyd increase.Together
When, it is in matrix arrangements convenient for multiple resilient sleeves that structure is simple, and confined space size can be made small without particular/special requirement, with
Multiple medicine column situation suitable for group's mode structure.Wherein, elastomeric material refers to elastomeric polymer, including rubber.
Preferably, the both ends of the resilient sleeve are formed with the fixed flange of press fitting.To be fixed by pressure ring or pressing ring,
The convenience and reliability that resilient sleeve is fixedly connected can be effectively improved.
It is further preferred that being equipped with multiple resilient sleeves in matrix in the confined space；Multiple resilient sleeves
Both ends pass through a pressing plate respectively and be pressed in be formed on the corresponding flange and be fixed.To adapt to multiple powder columns of group mould simultaneously
Crawl, and by same pressing plate simplification and cramped construction, property and reliability easy to assembly are improved, manufacturing cost is reduced.
It is further preferred that the confined space is made of the internal cavities of pressurized tank, it is empty that compression is connected in pressurized tank
Gas connector, compressed air joint are connect with the pressure-control valve.Sealing is shared to form multiple resilient sleeves by cabinets cavity
Space, compressed air joint are used to improve the convenience of compressed air pipe connection.
Still more preferably, the pressurized tank is formed removably by bottom plate, center and cover plate combination from top to bottom
Fixed connection structure；Two pressing plates are removably fixedly connected on corresponding bottom plate and cover board respectively.Improve pressurized tank
With the convenience of resilient sleeve assembling, manufacturing cost is reduced.
Still further preferably, the pressurized tank is equipped with terminal pad, and terminal pad is removably attachable to lifting cylinder
On piston rod, lifting cylinder is fixedly connected on rotating arm.With powder column specification variation when, resilient sleeve, spacing corresponding change and
It when caused pressurized tank difference, is connect by identical terminal pad with lifting cylinder, so that it may realize pressurized tank and finger specification
Replacement；Its is applied widely.
Still further preferably, the rotating arm is located on column-type frame by rotary cylinder, and the column-type frame is also
Equipped with gas control component, the gas control component by the pressure-control valve, lifting cylinder control valve and rotary cylinder control valve group at.This
Manipulator realizes that powder column picks and places by the lifting collective effect of pressurized tank pressurization or release and lifting cylinder, and passes through rotation
Cylinder drives rotating arm rotation set angle to realize powder column transfer, to form complete flexible manipulator delivery device.
Compared with the prior art, the invention has the advantages that powder column crawl is secured, adjacent finger spacing is small, grain surface
Good protection, the security risk that no powder column slips can be obtained, and can easily realize powder column variety renovation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of resilient sleeve 1 in the present invention.
Fig. 2 is elastic deformation structure's schematic diagram that 1 inner hole of resilient sleeve reduces in the present invention.
Fig. 3 is the structural schematic diagram of manipulator of the present invention.
Fig. 4 is the combining structure schematic diagram of the multiple resilient sleeves of the present invention.
Fig. 5 is the diagram after the bottom view of Fig. 4 of the present invention is rotated by 90 °.
Specific embodiment
The present invention will be further described below with reference to the drawings, and embodiment is exemplary, and is only used for disclosing and explain
Therefore the present invention to fully understand the present invention, but does not limit the present invention within the scope of the embodiment described.
Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, a kind of powder column flexible crawl manipulator, six hands including being in matrix arrangements
Refer to, finger resilient sleeve 1 made of elastomeric material is constituted；1 both ends of resilient sleeve are in fixed setting in confined space,
Confined space is connected with pressure-control valve；The inner hole aperture of the resilient sleeve 1 is greater than the powder column diameter of quasi- crawl, and the one of inner hole
Stomidium mouth is in the open state for powder column insertion；The flexible deformation that resilient sleeve 1 is reduced by inner hole can be formed securely powder column
Hoop is embraced.Wherein, the both ends of resilient sleeve 1 are formed with the fixed flange 1a of press fitting；The both ends of multiple resilient sleeves 1 pass through a pressing plate respectively
2 are pressed on corresponding flange 1a, so that the formation of resilient sleeve 1 is fixed by what supported flange 1a was compressed；Confined space is by adding
It presses the internal cavities of case to constitute, compressed air joint 6, compressed air joint 6 and the pressure-control valve is connected in pressurized tank
Connection.
Wherein, pressurized tank is formed with the combination of cover board 5 by bottom plate 3, center 4 from top to bottom and is removably fixedly connected with knot
Structure, the position that resilient sleeve 1 is corresponded on bottom plate 3 are equipped with hollow hole 3a, and it is spacious that hollow hole 3a forms one end of 1 inner hole of resilient sleeve
Mouthful, hollow hole 3a is equal to 1 internal diameter of resilient sleeve；Two pressing plates 2 are removably fixedly connected on corresponding bottom plate 3 and cover board 5 respectively
On；Gasket 17 is equipped between bottom plate 3 and corresponding pressing plate 2 and between cover board 5 and corresponding pressing plate 2.The lid of pressurized tank
Terminal pad 7 is fixed on plate 5, terminal pad 7 is removably attachable on the piston rod of lifting cylinder 8, and lifting cylinder 8 passes through angle steel
The lifting cylinder mounting base 12 of shape is fixedly connected on rotating arm 9, and rotating arm 9 constitutes manipulator arm.Rotating arm 9 passes through rotation
Cylinder 10 is located on column-type frame 11, which is additionally provided with gas control component 18, and the gas control component 18 is by the pressure
Force control valve, lifting cylinder control valve and rotary cylinder control valve group at.Wherein, the column top of column-type frame 11 is equipped with rotation
Rotaring cylinder mounting base 13, rotary cylinder 10 are fixed in rotary cylinder mounting base 13, and 13 top surface of rotary cylinder mounting base is solid
Surely it is connected with bearing block 14, passes through a pair of of thrust bearing in bearing block 14 and is equipped with rotary shaft 15, the upper end of rotary shaft 15 is formed with
Installation is fixed to use end face disk 15a, and rotary shaft 15 is fixedly connected on rotating arm 9 by end face disk；15 lower end of rotary shaft, which is equipped with, to be connected
It connects hole, connecting hole and rotary shaft 15 and axle journal coaxial line is installed with thrust bearing；The output shaft of rotary cylinder 10 passes through the rotation
Cylinder mounting base 13, and protruding into the connecting hole of the rotary shaft 15, the output shaft of rotary cylinder 10 be connected by key structure with
The rotary shaft 15 forms the connection relationship rotated synchronously.
By the way that different size, different spacing, the resilient sleeve 1 of different number and different arrangement modes is arranged in this pressurized tank,
Pressing group's mould that plurality of specifications can easily be adapted to only is needed using the identical terminal pad 7 with lifting cylinder 8.
Wherein, when Fig. 2 show position insertion powder column 16, the flexible deformation situation of 1 inner wall of resilient sleeve, inserted with powder column 16
In the case where, 1 inner wall flexible deformation of resilient sleeve is resisted by 16 cylinder of powder column, be will form one end naturally and is wrapped in 16 surface of powder column
Cylinder hole section.
In the present embodiment, the position that resilient sleeve 1 is corresponded on bottom plate 5 may also set up hollow hole, so that the two of 1 inner hole of resilient sleeve
End is respectively formed opening.
This powder column flexible crawl robot work process is as follows, and the powder column that group has been molded passes through the pressure with powder column liftout attachment
Multiple powder columns are disposably transported to designated position → rotary cylinder 10 and the rotation of rotating arm 9 to powder column are driven to grab work by medicine trolley
The driving pressurized tank decline → powder column liftout attachment of position → lifting cylinder 8, which synchronizes multiple powder columns to head into resilient sleeve 1, to be set deeply
Degree → pressure-control valve starts and passes through pipeline and compressed air joint 61 inner wall of inflating pressure → resilient sleeve into pressurized tank and receives
Contracting holds 16 → lifting cylinder of powder column 8 tightly and pressurized tank rising → rotary cylinder 10 is driven to drive the rotation of rotating arm 9 to powder column discharge level
Set → lifting cylinder 8 drives pressurized tank decline → pressure-control valve commutation work, and by pipeline and compressed air joint 6 to adding
Case deflation release is pressed, resilient sleeve 1 is restored to original installation condition → lifting cylinder 8 and pressurized tank is driven to rise to original position, and terminates
Work.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (7)
1. a kind of powder column flexible crawl manipulator, including finger, it is characterised in that: finger bullet made of elastomeric material
Property set (1) constitute；In fixed setting in confined space, confined space is connected with pressure control at resilient sleeve (1) both ends
Valve；The inner hole aperture of the resilient sleeve (1) is greater than the powder column diameter of quasi- crawl, and at least one end aperture of inner hole is in be used for powder column
The open state of insertion；The flexible deformation that resilient sleeve (1) is reduced by inner hole can form securely hoop to powder column and embrace.
2. powder column flexible crawl manipulator according to claim 1, it is characterised in that: the both ends shape of the resilient sleeve (1)
It is pressed fixed flange (1a) at having.
3. powder column flexible crawl manipulator according to claim 2, it is characterised in that: in matrix in the confined space
Equipped with multiple resilient sleeves (1)；The both ends of multiple resilient sleeves (1) pass through respectively a pressing plate (2) be pressed in it is corresponding described
It is formed and is fixed on flange (1a).
4. powder column flexible crawl manipulator according to claim 2, it is characterised in that: the confined space is by pressurized tank
Internal cavities are constituted, and are connected with compressed air joint (6) in pressurized tank, and compressed air joint (6) and the pressure-control valve connect
It connects.
5. powder column flexible crawl manipulator according to claim 4, it is characterised in that: the pressurized tank is by from top to bottom
Bottom plate (3), center (4) and cover board (5) combination form dismountable fixed connection structure；Two pressing plates (2) are removable respectively
That unloads is fixedly connected on corresponding bottom plate (3) and cover board (5).
6. powder column flexible crawl manipulator according to claim 5, it is characterised in that: the pressurized tank is equipped with terminal pad
(7), terminal pad (7) is removably attachable on the piston rod of lifting cylinder (8), and lifting cylinder (8) is fixedly connected on rotating arm
(9) on.
7. powder column flexible crawl manipulator according to claim 6, it is characterised in that: the rotating arm (9) passes through rotation
Cylinder (10) is located on column-type frame (11), which is additionally provided with gas control component, and the gas control component is by described
Pressure-control valve, lifting cylinder control valve and rotary cylinder control valve group at.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810978177.7A CN109227579A (en) | 2018-08-24 | 2018-08-24 | A kind of powder column flexible crawl manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810978177.7A CN109227579A (en) | 2018-08-24 | 2018-08-24 | A kind of powder column flexible crawl manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109227579A true CN109227579A (en) | 2019-01-18 |
Family
ID=65068361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810978177.7A Withdrawn CN109227579A (en) | 2018-08-24 | 2018-08-24 | A kind of powder column flexible crawl manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109227579A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111499477A (en) * | 2020-04-26 | 2020-08-07 | 上海航天化工应用研究所 | Clamping and collecting device for waste sections of coated grains |
| CN113820506A (en) * | 2021-08-10 | 2021-12-21 | 西安金域医学检验所有限公司 | Automatic queuing instrument |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5029925A (en) * | 1988-06-09 | 1991-07-09 | Rico-Maschinenbau Max Appel Kg | Pickup device for bottles |
| US5372786A (en) * | 1993-07-02 | 1994-12-13 | Abbott Laboratories | Method of holding a sample container |
| JP2009050993A (en) * | 2007-08-29 | 2009-03-12 | Bridgestone Corp | Chucking device |
| CN105345825A (en) * | 2015-11-16 | 2016-02-24 | 江苏拓新天机器人科技有限公司 | Mechanical arm device for quick taking and placing of round battery |
| DE102016000174A1 (en) * | 2015-01-13 | 2016-07-14 | Rudolf Zodrow | Gripping insert for a packing tulip for the head-side gripping of bottles and packing tulip |
| JP2018062038A (en) * | 2016-10-13 | 2018-04-19 | ニッタ株式会社 | Gripping device and industrial robot |
-
2018
- 2018-08-24 CN CN201810978177.7A patent/CN109227579A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5029925A (en) * | 1988-06-09 | 1991-07-09 | Rico-Maschinenbau Max Appel Kg | Pickup device for bottles |
| US5372786A (en) * | 1993-07-02 | 1994-12-13 | Abbott Laboratories | Method of holding a sample container |
| JP2009050993A (en) * | 2007-08-29 | 2009-03-12 | Bridgestone Corp | Chucking device |
| DE102016000174A1 (en) * | 2015-01-13 | 2016-07-14 | Rudolf Zodrow | Gripping insert for a packing tulip for the head-side gripping of bottles and packing tulip |
| CN105345825A (en) * | 2015-11-16 | 2016-02-24 | 江苏拓新天机器人科技有限公司 | Mechanical arm device for quick taking and placing of round battery |
| JP2018062038A (en) * | 2016-10-13 | 2018-04-19 | ニッタ株式会社 | Gripping device and industrial robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111499477A (en) * | 2020-04-26 | 2020-08-07 | 上海航天化工应用研究所 | Clamping and collecting device for waste sections of coated grains |
| CN111499477B (en) * | 2020-04-26 | 2021-07-13 | 上海航天化工应用研究所 | Clamping and collecting device for waste sections of coated grains |
| CN113820506A (en) * | 2021-08-10 | 2021-12-21 | 西安金域医学检验所有限公司 | Automatic queuing instrument |
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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: 20190118 |