CN111558935A - Force application size-adjustable manipulator and application method thereof - Google Patents
Force application size-adjustable manipulator and application method thereof Download PDFInfo
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- CN111558935A CN111558935A CN202010668727.2A CN202010668727A CN111558935A CN 111558935 A CN111558935 A CN 111558935A CN 202010668727 A CN202010668727 A CN 202010668727A CN 111558935 A CN111558935 A CN 111558935A
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- arm
- hydraulic
- grabbing
- manipulator
- piston
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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
- 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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- 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
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- 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
- B25J19/02—Sensing devices
Abstract
The invention discloses a mechanical arm with adjustable force application magnitude, which relates to the technical field of mechanical arms and comprises a fixed arm, an extension arm and a grabbing arm, wherein the grabbing arm comprises a grabbing sucker, a connecting rod and a first piston, a first hydraulic cavity and a connecting hole are formed in the extension arm, a second piston in sliding fit with the extension arm is formed in the second hydraulic cavity, a connecting channel is formed between the first hydraulic cavity and the second hydraulic cavity, an adjusting valve is arranged in the middle of the connecting channel, a driving assembly for driving the second piston to reset is arranged in the fixed arm, a limiting assembly is arranged between the grabbing arm and the extension arm, and a monitoring and regulating assembly is arranged between the extension arm and the fixed arm. The invention realizes the real-time monitoring and adjustment of the force application magnitude in the process of grabbing objects, replaces the work of a spring with the extrusion liquid, stabilizes the position of the grabbing arm, prevents the grabbing arm from being affected by shaking, does not have the problem of transmission pressure coefficient change even if the grabbing arm is repeatedly used, and has longer service life.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a mechanical arm with adjustable force application and a using method thereof.
Background
The manipulator is a production facility commonly used, snatchs glass and the smooth panel sucking disc formula manipulator commonly used in surface. However, the plate grabbing force for different materials needs to be controlled, otherwise, the materials are easily damaged.
Chinese patent No. CN10728339696B discloses a force-applying adjustable manipulator and a robot using the same, including a manipulator arm and a manipulator wrist, where the manipulator wrist includes a wrist shaft and a gripper, the gripper is mounted at one end of the wrist shaft, the other end of the wrist shaft is movably connected with one end of the manipulator arm, the manipulator arm includes a trigger baffle, and one side of the trigger baffle is connected with one end of the manipulator arm; the mechanical wrist further comprises a trigger sensor, a sensor mounting seat, a force application spring and a force application adjusting nut. The force-applying adjustable manipulator and the robot using the same can adjust the pressure of the gripper on a contact object through the force-applying spring and the force-applying adjusting nut, so that the force-applying allowable range of the mechanical wrist can be adjusted according to the pressure requirements of different contact objects.
However, the above patents have the following disadvantages in use; first, the above patent mainly adjusts the magnitude of the applied force by adjusting the degree of contraction of the spring during use, but the spring adjustment method has a great disadvantage: the elastic coefficient of the spring is also reduced after the spring is used for many times, so that the adjustment is inaccurate, and the stability of the equipment is further influenced. Secondly, the condition that rocks can appear when using in above-mentioned patent, when snatching the thing and placing, there is the bearing thing in its rear portion for have pressure between manipulator and the snatching the thing, when the manipulator will snatch the thing and pick up the back, do not have the bearing thing at the rear of snatching the thing, the spring can resume the shape this moment, promote the gripper and remove, afterwards, only through the position of spring restriction gripper, can lead to the gripper to rock the unstability, and then can cause the influence to snatching the thing, especially when the location is put, hardly place it at the assigned position.
Disclosure of Invention
The invention aims to provide a mechanical arm with adjustable force application size and a using method thereof, and aims to solve the technical problems that the force application size is not accurately adjusted and the grabbing process is unstable in the prior art.
The invention provides a mechanical arm with adjustable force application magnitude, which comprises a fixed arm, an extension arm and a grabbing arm, wherein the extension arm is arranged at the front end of the fixed arm, the grabbing arm is arranged at the front end of the extension arm, the grabbing arm comprises a grabbing sucker, a connecting rod and a first piston, the first piston and the grabbing sucker are respectively arranged at two ends of the connecting rod, a first hydraulic cavity and a connecting hole which are communicated with each other are arranged in the extension arm, the connecting rod extends into the first hydraulic cavity through the connecting hole, the first piston is positioned in the first hydraulic cavity and is in sliding fit with the first hydraulic cavity, a second hydraulic cavity is arranged in the fixed arm, a second piston in sliding fit with the second hydraulic cavity is arranged in the second hydraulic cavity, a connecting channel for communicating the first hydraulic cavity and the second hydraulic cavity is arranged between the first hydraulic cavity and the second hydraulic cavity, an adjusting valve is arranged in the middle of the connecting channel, the grabbing arm is connected with the fixed arm through a connecting rod, the fixed arm is connected with the grabbing arm through a connecting rod, the grabbing arm is connected with the fixed arm through a connecting rod, and the grabbing arm is connected with the fixed arm through a connecting rod.
Further, monitoring regulation and control subassembly includes hydraulic sensor, regulation and control pipeline and regulation and control valve, hydraulic sensor sets up and is located first hydraulic pressure intracavity at extension arm inscribe hydraulic sensor's response end, the both ends of regulation and control pipeline communicate with first hydraulic pressure chamber and second hydraulic pressure chamber respectively, the regulation and control valve is installed on the regulation and control pipeline.
Further, drive assembly includes drive guide arm, drive spout, driving motor, shaft coupling, drive shaft, one-way bearing, drive gear and drive rack, drive guide arm is located the drive spout and sliding fit between the two, drive guide arm's one end and second piston fixed connection, the drive rack sets up the lower extreme at the drive guide arm, the drive shaft sets up the below at the drive rack, drive gear passes through one-way bearing and is connected with the drive shaft rotation, and drive gear and drive rack meshing, the one end fixed connection of shaft coupling and drive shaft is passed through to driving motor's output.
Furthermore, the limiting assembly comprises a limiting rod and a limiting groove, the cross section of the limiting rod is L-shaped, one end of the limiting rod is fixedly connected with the grabbing sucker, the limiting groove is formed in the extension arm, the other end of the limiting rod is inserted into the limiting groove, and the limiting rod is in sliding fit with the limiting groove.
Further, the inner diameter of the second hydraulic chamber is larger than the inner diameter of the first hydraulic chamber.
Further, the length of the connecting hole is more than or equal to half of the length of the connecting rod.
Furthermore, extrusion liquid is arranged between the first piston and the second piston.
The invention also provides a use method of the manipulator with adjustable force application, which comprises the following steps:
s1: mounting, namely mounting the fixed arm on a use station;
s2: adjusting, namely adjusting the size of the connecting channel through an adjusting valve so as to control the speed of the extrusion liquid in the first hydraulic cavity entering the second hydraulic cavity;
s3: grabbing and applying force, driving the fixed arm to move, enabling a grabbing sucker at the front end of the grabbing arm to be abutted on a grabbed object, then gradually increasing the force, pushing the first piston to extrude towards the rear part of the first hydraulic cavity by the connecting rod, detecting the pressure in the first hydraulic cavity through the hydraulic sensor, and judging the pressure of the grabbing sucker on the grabbed object through the numerical value of the hydraulic sensor;
s4: grabbing buffering, wherein when the numerical value of the hydraulic sensor reaches a set value, the connecting channel is opened by adjusting the size of the valve mounting equipment, and at the moment, extrusion liquid in the first hydraulic cavity enters the second hydraulic cavity so as to avoid overlarge pressure of the front grabbing sucker on a grabbed object in the process of continuously applying force by the fixed arm;
s5: grabbing, namely stopping continuously applying force to the fixed arm when the numerical value of the hydraulic sensor is stabilized at a set value, closing the regulating valve to ensure that the pressure of the grabbing sucker on the grabbed object is unchanged, and then sucking air to form vacuum to adsorb the grabbed object by the grabbing sucker;
s6: returning, wherein after the placement of the grabbed objects is finished, the regulating valve and the regulating valve are opened, the driving motor works to drive the driving gear to rotate, so that the driving rack drives the driving guide rod to push the second piston to move, the extrusion liquid in the second hydraulic cavity is pushed into the first hydraulic cavity, and the grabbing sucker returns to the original position;
s7: the operations of S1-S6 are repeated to perform a cyclic operation.
Further, in the S4 step, if the fixed arm translation rate is too fast, lead to snatching the sucking disc and increase too fast to the pressure of grabbing the thing, the size of governing valve control connection passageway can't in time discharge into the second hydraulic chamber with unnecessary extrusion liquid, and hydraulic sensor' S numerical value can rise fast, and the regulation and control valve is opened, accelerates extrusion liquid from the speed that first hydraulic chamber discharged into the second hydraulic chamber through the regulation and control pipeline.
Compared with the prior art, the invention has the beneficial effects that:
firstly, the invention is provided with a hydraulic sensor for monitoring the pressure in a first hydraulic cavity and a second hydraulic cavity, when the device works, the fixed arm pushes the grabbing arm to apply force to the grabbed object, the connecting rod pushes the first piston to move towards the first hydraulic cavity, so that the first hydraulic cavity is compressed, the internal pressure is increased, the numerical value of the hydraulic sensor is increased, when the numerical value detected by the hydraulic sensor reaches a preset value, the pressure of the grabbing arm to the grabbed object is indicated to reach a preset value and cannot be increased any more, at the moment, the regulating valve is opened, the first hydraulic cavity is communicated with the second hydraulic cavity to release pressure to the first hydraulic cavity, so as to offset the pressure increased by the fixed arm to continuously push the grabbing arm to the grabbed object, the force applied by the grabbing arm to the grabbed object is constant, meanwhile, the fixed arm is stopped to continuously apply force to increase the force applied by the grabbing arm to the, prevent to continue the pressure release and lead to snatching the arm not enough to the pressure of grabbing the thing in the first hydraulic pressure intracavity, at above-mentioned in-process, if the fixed arm application of force makes to snatch the arm and increase too fast to the pressure of grabbing the thing, then can control the regulation and control valve and open, through the pressure release with higher speed of regulation and control pipeline, prevent to snatch the arm and to snatch the too big damage that causes of thing pressure, realized snatching the real time monitoring of object in-process to the application of force size and adjust.
Secondly, according to the invention, the squeezing liquid for transmitting pressure is arranged between the first hydraulic cavity and the second hydraulic cavity, and the volume of the liquid cannot be shrunk or increased, so that when the first piston squeezes the squeezing liquid, the second piston can be squeezed by the squeezing liquid, and the pressure in the first hydraulic cavity is stabilized. When the regulating valve is closed, the fixed arm also stops applying force to enable the pressure of the grabbing arm on the grabbed object to be unchanged, and the volume of the extrusion liquid in the first hydraulic cavity is unchanged, so that the position of the first piston is not changed.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 2;
fig. 4 is a partial cross-sectional view of the present invention.
Reference numerals:
fixed arm 1, extension arm 2, snatch arm 3, snatch sucking disc 31, connecting rod 32, first piston 33, first hydraulic pressure chamber 4, second hydraulic pressure chamber 5, second piston 6, interface channel 7, governing valve 8, drive assembly 9, drive guide rod 91, drive spout 92, driving motor 93, shaft coupling 94, one-way bearing 95, drive gear 96, drive rack 97, restriction subassembly 10, restriction pole 101, restriction groove 102, monitoring regulation and control subassembly 11, hydraulic sensor 111, regulation and control pipeline 112, regulation and control valve 113.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.
All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 4, an embodiment of the present invention provides a manipulator with adjustable force application, including a fixed arm 1, an extension arm 2, and a gripping arm 3, where the extension arm 2 is installed at a front end of the fixed arm 1, the gripping arm 3 is installed at a front end of the extension arm 2, the gripping arm 3 includes a gripping suction cup 31, a connecting rod 32, and a first piston 33, the first piston 33 and the gripping suction cup 31 are respectively installed at two ends of the connecting rod 32, a first hydraulic chamber 4 and a connecting hole are provided in the extension arm 2, the connecting rod 32 extends into the first hydraulic chamber 4 through the connecting hole, the first piston 33 is located in the first hydraulic chamber 4 and is in sliding fit with the first hydraulic chamber 4, a second hydraulic chamber 5 is provided in the fixed arm 1, a second piston 6 is provided in sliding fit with the second hydraulic chamber 5, a connecting channel 7 is provided between the first hydraulic chamber 4 and the second hydraulic chamber 5 for communicating the two, a regulating valve 8 is arranged in the middle of the connecting channel 7, a driving assembly 9 for driving the second piston 6 to reset is arranged in the fixed arm 1, a limiting assembly 10 for limiting the rotation of the grabbing arm 3 is arranged between the grabbing arm 3 and the extension arm 2, and a monitoring and regulating assembly 11 for monitoring the force application magnitude is arranged between the extension arm 2 and the fixed arm 1; when the grabbing arm type hydraulic control device works, the force application amount of the grabbing arm 3 to the grabbed object is monitored through the monitoring and regulating assembly 11, when the force application amount is within a proper range and continuously increases, when the force application amount reaches a preset value, the circulation speed between the first hydraulic cavity 4 and the second hydraulic cavity 5 is controlled through the regulating valve 8, the force application amount of the grabbing arm 3 to the grabbed object is limited within the preset value, then, the force application amount is stopped to be continuously increased, meanwhile, the regulating valve 8 is closed, the force application amount is kept stable, and then, the grabbing sucker 31 works to adsorb the grabbed object to perform subsequent work. Compared with the prior art, the invention improves the convenience of adjusting the preset value of the force application magnitude, and can carry out timely adjustment through the monitoring and adjusting component 11 in the force application process, and can carry out timely adjustment and control even if the equipment is damaged. In addition, after the object is grabbed, the stability can be kept, and the situations of shaking and the like in the moving process are avoided.
Specifically, the monitoring and regulating assembly 11 includes a hydraulic sensor 111, a regulating and regulating pipeline 112 and a regulating and regulating valve 113, the hydraulic sensor 111 is disposed in the extension arm 2, the sensing end of the hydraulic sensor 111 is located in the first hydraulic cavity 4, two ends of the regulating and regulating pipeline 112 are respectively communicated with the first hydraulic cavity 4 and the second hydraulic cavity 5, and the regulating and regulating valve 113 is mounted on the regulating and regulating pipeline 112; the hydraulic sensor 111 is used for monitoring the pressure in the first hydraulic chamber 4 and the second hydraulic chamber 5, when the hydraulic sensor works, the fixed arm 1 pushes the grabbing arm 3 to apply force to the grabbed object, the connecting rod 32 pushes the first piston 33 to move into the first hydraulic chamber 4, so that the first hydraulic chamber 4 is compressed, the internal pressure is further increased, the value of the hydraulic sensor 111 is increased, when the value detected by the hydraulic sensor 111 reaches a preset value, it is indicated that the pressure of the grabbing arm 3 to the grabbed object reaches a preset value and cannot be increased any more, at this time, the regulating valve 8 is opened, the first hydraulic chamber 4 is communicated with the second hydraulic chamber 5, the pressure is released to the first hydraulic chamber 4, so as to offset the pressure of the fixed arm 1 continuously pushing the grabbing arm 3 to the grabbed object, the force applied by the grabbing arm 3 to the grabbed object is constant, and meanwhile, the force applied by the grabbing arm 3 to the grabbed object is increased by, and close governing valve 8, prevent to continue the pressure release in the first hydraulic pressure chamber 4 and lead to snatching the arm 3 not enough to the pressure of grabbing the thing, at above-mentioned in-process, if fixed arm 1 application of force makes and snatchs the arm 3 and increase too fast to the pressure of grabbing the thing, then can control regulation and control valve 113 and open, through the pressure release with higher speed of regulation and control pipeline 112, prevent to snatch the arm 3 and lead to the fact the damage to grabbing thing pressure too big.
Specifically, the driving assembly 9 includes a driving guide rod 91, a driving sliding chute 92, a driving motor 93, a coupler 94, a driving shaft, a one-way bearing 95, a driving gear 96 and a driving rack 97, the driving guide rod 91 is located in the driving sliding chute 92 and is in sliding fit with the driving sliding chute 92, one end of the driving guide rod 91 is fixedly connected with the second piston 6, the driving rack 97 is arranged at the lower end of the driving guide rod 91, the driving shaft is arranged below the driving rack 97, the driving gear 96 is rotatably connected with the driving shaft through the one-way bearing 95, the driving gear 96 is meshed with the driving rack 97, and the output end of the driving motor 93 is fixedly connected with one end of the driving shaft through the coupler 94; after one-time work is finished, the regulating valve 8 is opened, the driving motor 93 works to drive the driving shaft to rotate, the driving shaft drives the driving gear 96 to rotate, the driving guide rod 91 pushes the second piston 6 to move towards the second hydraulic cavity 5 through the meshing of the driving gear 96 and the driving rack 97, and the grabbing arm 3 returns to the original position, so that the next-step work is carried out; the one-way bearing 95 is arranged such that when the second piston 6 pushes the driving guide rod 91 to move backward, the driving gear 96 can rotate freely without causing an obstruction to the movement due to the engagement of the driving gear 96 and the driving rack 97; when the driving motor 93 is operated, the driving shaft can be smoothly driven to drive the driving gear 96 to rotate, so that the driving rack 97 can be moved to push the second piston 6 to return to the original position.
Specifically, the limiting assembly 10 comprises a limiting rod 101 and a limiting groove 102, the cross section of the limiting rod 101 is L-shaped, one end of the limiting rod 101 is fixedly connected with the grabbing suction cup 31, the limiting groove 102 is arranged on the extension arm 2, the other end of the limiting rod 101 is inserted into the limiting groove 102, and the limiting rod 101 is in sliding fit with the limiting groove 102; the arrangement of the restricting lever 101 and the restricting groove 102 serves to prevent the rotation of the gripper arm 3 during the retraction, improving the stability of the gripper arm 3.
Specifically, the inner diameter of the second hydraulic chamber 5 is larger than the inner diameter of the first hydraulic chamber 4; the volume of the second hydraulic chamber 5 is increased by increasing the inner diameter thereof, and the length thereof can be shortened to reduce the overall length of the apparatus.
Specifically, the length of the connecting hole is greater than or equal to half of the length of the connecting rod 32; such size setting can improve the stability that connecting hole and connecting rod 32 are connected, and then improve the stability of being connected between snatching arm 3 and extension arm 2.
Specifically, extrusion liquid is arranged between the first piston 33 and the second piston 6; the arrangement of the pressing liquid is for transmitting pressure between the first piston 33 and the second piston 6, and the liquid volume is neither contracted nor increased, and therefore, when the first piston 33 presses the pressing liquid, the second piston 6 can be pressed by the pressing liquid, thereby stabilizing the pressure in the first hydraulic pressure chamber 4. When the regulating valve 8 is closed, the fixed arm 1 also stops applying force to make the grabbing arm 3 keep the pressure of the grabbed object unchanged, and the volume of the extrusion liquid in the first hydraulic chamber 4 is unchanged, so that the position of the first piston 33 is not changed, the position of the grabbing arm 3 is stable, and the grabbing arm 3 is prevented from shaking to influence the grabbed object.
The invention also provides a use method of the manipulator with adjustable force application, which comprises the following steps:
s1: mounting, namely mounting the fixed arm 1 on a use station;
s2: adjusting, namely adjusting the size of the connecting channel 7 through an adjusting valve 8 so as to control the speed of the extrusion liquid in the first hydraulic cavity 4 entering the second hydraulic cavity 5;
s3: grabbing and applying force, driving the fixed arm 1 to move, enabling the grabbing sucker 31 at the front end of the grabbing arm 3 to be abutted to a grabbed object, then gradually increasing the force, at the moment, pushing the first piston 33 to extrude towards the rear part of the first hydraulic cavity 4 by the connecting rod 32, detecting the pressure in the first hydraulic cavity 4 through the hydraulic sensor 111, and judging the pressure of the grabbing sucker 31 on the grabbed object through the numerical value of the hydraulic sensor 111;
s4: grabbing buffering, when the numerical value of the hydraulic sensor 111 reaches a set value, the size of the installation equipment of the regulating valve 8 opens the connecting channel 7, and at the moment, extrusion liquid in the first hydraulic cavity 4 enters the second hydraulic cavity 5, so that the excessive pressure of the front grabbing sucker 31 on a grabbed object is avoided in the process of continuously applying force to the fixed arm 1;
s5: grabbing, when the numerical value of the hydraulic sensor 111 is stabilized at a set value, stopping applying force to the fixed arm 1, closing the regulating valve 8 to enable the pressure of the grabbing suction cup 31 on the grabbed object to be unchanged, and then enabling the grabbing suction cup 31 to work and exhaust air to form vacuum to adsorb the grabbed object;
s6: returning, after the grabbing objects are placed, the regulating valve 8 and the regulating valve 113 are opened, the driving motor 93 works to drive the driving gear 96 to rotate, so that the driving rack 97 drives the driving guide rod 91 to push the second piston 6 to move, the extrusion liquid in the second hydraulic cavity 5 is pushed into the first hydraulic cavity 4, and the grabbing sucker 31 returns to the original position;
s7: the operations of S1-S6 are repeated to perform a cyclic operation.
Specifically, in the step S4, if the moving speed of the fixing arm 1 is too fast, which results in too fast pressure increase of the grabbing suction cup 31 on the grabbed object, the size of the control connection channel 7 of the adjusting valve 8 cannot timely discharge redundant squeezing liquid into the second hydraulic chamber 5, the numerical value of the hydraulic sensor 111 will rise quickly, the adjusting valve 113 is opened, and the speed of discharging the squeezing liquid from the first hydraulic chamber 4 into the second hydraulic chamber 5 is increased through the adjusting and controlling pipeline 112.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. The utility model provides a force application size adjustable manipulator which characterized in that: including fixed arm (1), extension arm (2) and snatch arm (3), the front end at fixed arm (1) is installed in extension arm (2) to extension arm (2), snatch arm (3) including snatching sucking disc (31), connecting rod (32) and first piston (33), first piston (33) with snatch sucking disc (31) and install the both ends at connecting rod (32) respectively, be equipped with first hydraulic pressure chamber (4) and the connecting hole of mutual intercommunication in extension arm (2), connecting rod (32) extend to first hydraulic pressure chamber (4) in through the connecting hole, first piston (33) are located first hydraulic pressure chamber (4) and sliding fit between the two, be equipped with second hydraulic pressure chamber (5) in fixed arm (1), be equipped with in second hydraulic pressure chamber (5) rather than sliding fit's second piston (6), be equipped with between first hydraulic pressure chamber (4) and the second hydraulic pressure chamber (5) and be used for communicateing between them interface channel (7), the middle part of interface channel (7) is equipped with governing valve (8), be equipped with drive assembly (9) that are used for driving second piston (6) and reset in fixed arm (1), it is equipped with to snatch between arm (3) and extension arm (2) and rotates restriction's restriction subassembly (10) to snatching arm (3), be equipped with between extension arm (2) and fixed arm (1) and be used for carrying out the monitoring regulation and control subassembly (11) that monitor to the application of force size.
2. The manipulator of claim 1, wherein the manipulator is configured to: monitoring regulation and control subassembly (11) include hydraulic sensor (111), regulation and control pipeline (112) and regulation and control valve (113), hydraulic sensor (111) set up in extension arm (2) and hydraulic sensor (111) the response end is located first hydraulic pressure chamber (4), the both ends of regulation and control pipeline (112) communicate with first hydraulic pressure chamber (4) and second hydraulic pressure chamber (5) respectively, regulation and control valve (113) are installed on regulation and control pipeline (112).
3. The manipulator of claim 1, wherein the manipulator is configured to: drive assembly (9) are including drive guide (91), drive spout (92), driving motor (93), shaft coupling (94), drive shaft, one-way bearing (95), drive gear (96) and drive rack (97), drive guide (91) are located drive spout (92) and sliding fit between the two, the one end and second piston (6) fixed connection of drive guide (91), drive rack (97) set up the lower extreme at drive guide (91), the drive shaft sets up the below at drive rack (97), drive gear (96) are connected with the drive shaft rotation through one-way bearing (95), and drive gear (96) and drive rack (97) meshing, the output of driving motor (93) passes through the one end fixed connection of shaft coupling (94) and drive shaft.
4. The manipulator of claim 1, wherein the manipulator is configured to: the limiting assembly (10) comprises a limiting rod (101) and a limiting groove (102), the cross section of the limiting rod (101) is L-shaped, one end of the limiting rod (101) is fixedly connected with the grabbing sucker (31), the limiting groove (102) is arranged on the extension arm (2), the other end of the limiting rod (101) is inserted into the limiting groove (102), and the limiting rod (101) is in sliding fit with the limiting groove (102).
5. The manipulator of claim 1, wherein the manipulator is configured to: the inner diameter of the second hydraulic cavity (5) is larger than that of the first hydraulic cavity (4).
6. The manipulator of claim 1, wherein the manipulator is configured to: the length of the connecting hole is more than or equal to half of the length of the connecting rod (32).
7. The manipulator of claim 1, wherein the manipulator is configured to: and extrusion liquid is arranged between the first piston (33) and the second piston (6).
8. The use method of the manipulator with adjustable force application amount according to any one of claims 1 to 7, characterized in that; the method comprises the following steps:
s1: mounting, namely mounting the fixed arm (1) on a use station;
s2: adjusting, namely adjusting the size of the connecting channel (7) through an adjusting valve (8) so as to control the speed of the extrusion liquid in the first hydraulic cavity (4) entering the second hydraulic cavity (5);
s3: grabbing and applying force, driving the fixed arm (1) to move, enabling a grabbing sucker (31) at the front end of the grabbing arm (3) to be abutted to a grabbed object, then gradually increasing the force, at the moment, pushing a first piston (33) to extrude towards the rear part of a first hydraulic cavity (4) through a connecting rod (32), detecting the pressure in the first hydraulic cavity (4) through a hydraulic sensor (111), and judging the pressure of the grabbing sucker (31) on the grabbed object through the numerical value of the hydraulic sensor (111);
s4: grabbing buffering, wherein when the numerical value of the hydraulic sensor (111) reaches a set value, the connecting channel (7) is opened by adjusting the size of the installation equipment of the valve (8), and at the moment, extruding liquid in the first hydraulic cavity (4) enters the second hydraulic cavity (5) so as to avoid overlarge pressure of the front grabbing sucker (31) on a grabbed object in the process of continuously applying force to the fixed arm (1);
s5: grabbing, when the numerical value of the hydraulic sensor (111) is stabilized at a set value, stopping continuously applying force to the fixed arm (1), closing the regulating valve (8) to enable the pressure of the grabbing suction cup (31) on the grabbed object to be unchanged, and then enabling the grabbing suction cup (31) to work and exhaust air to form vacuum to adsorb the grabbed object;
s6: after the grabbing object is placed, the regulating valve (8) and the regulating valve (113) are opened, the driving motor (93) works to drive the driving gear (96) to rotate, so that the driving rack (97) drives the driving guide rod (91) to push the second piston (6) to move, the extrusion liquid in the second hydraulic cavity (5) is pushed into the first hydraulic cavity (4), and the grabbing sucker (31) returns to the original position;
s7: the operations of S1-S6 are repeated to perform a cyclic operation.
9. The method of using a force application size adjustable manipulator according to claim 8, wherein: in the S4 step, if fixed arm (1) moving speed is too fast, lead to snatching sucking disc (31) and increase too fast to the pressure of grabbing the thing, the size of governing valve (8) control connecting channel (7) can't in time discharge unnecessary extrusion liquid into second hydraulic chamber (5), hydraulic sensor' S (111) numerical value can rise fast, regulation and control valve (113) are opened, accelerate the speed that extrusion liquid discharged second hydraulic chamber (5) from first hydraulic chamber (4) through regulation and control pipeline (112).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010668727.2A CN111558935B (en) | 2020-07-13 | 2020-07-13 | Force application size-adjustable manipulator and application method thereof |
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| CN202010668727.2A CN111558935B (en) | 2020-07-13 | 2020-07-13 | Force application size-adjustable manipulator and application method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114589679A (en) * | 2022-05-09 | 2022-06-07 | 佛山市来保利高能科技有限公司 | Fetching and placing manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion |
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| CN114589679A (en) * | 2022-05-09 | 2022-06-07 | 佛山市来保利高能科技有限公司 | Fetching and placing manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion |
| CN114589679B (en) * | 2022-05-09 | 2022-07-12 | 佛山市来保利高能科技有限公司 | Fetching and placing manipulator for gamma-ray radiation polymerization of silicone-acrylic emulsion |
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| CN111558935B (en) | 2020-10-09 |
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Effective date of registration: 20220615 Address after: 213033 Chun Jiang Zhen Wei Tang Qian Wei Cun, Xinbei District, Changzhou City, Jiangsu Province Patentee after: CHANGZHOU JIANGDING PRECISION MACHINERY CO.,LTD. Address before: 264006 Zhujianglu Road 92, Yantai economic and Technological Development Zone, Shandong Patentee before: YANTAI ENGINEERING & TECHNOLOGY College |