CN111872782A - Sucking disc formula helping hand manipulator - Google Patents
Sucking disc formula helping hand manipulator Download PDFInfo
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- CN111872782A CN111872782A CN202010789861.8A CN202010789861A CN111872782A CN 111872782 A CN111872782 A CN 111872782A CN 202010789861 A CN202010789861 A CN 202010789861A CN 111872782 A CN111872782 A CN 111872782A
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- sucker
- type power
- cylinder
- manipulator
- assisted manipulator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/06—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain
- B24B9/08—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of glass
- B24B9/10—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of glass of plate glass
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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
- B25J15/06—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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Inorganic Chemistry (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a sucker type power-assisted manipulator which comprises a main arm, an execution claw and a pneumatic control box, wherein the main arm consists of an arm frame and a top suspension component, the top end of the arm frame is fixedly connected with a rotating shaft rod, and the surface of the rotating shaft rod is provided with a driving cylinder through a rotating seat; the execution claw is composed of a rectangular frame and a plurality of supporting rods arranged on the periphery of the rectangular frame, a round rod is fixedly connected to the middle of the rectangular frame, a through hole is formed in the side face of the bottom end of the arm frame, and the surface of the round rod is arranged at the bottom end of the arm frame through a through hole sleeve. This sucking disc formula helping hand manipulator through setting up second pivot seat and foraminiferous link plate, makes this helping hand manipulator can hang on equipment such as hoist, navigation car, carries out the displacement, adopts a plurality of negative pressure sucking discs of pneumatic control box control to carry out the absorbent mode of taking to the glass surface, can fix glass fast, and is also very convenient when putting down glass simultaneously to it is efficient, simple convenient to make this helping hand manipulator transport glass.
Description
Technical Field
The invention relates to the technical field of power-assisted manipulators, in particular to a sucker type power-assisted manipulator.
Background
Glass is an amorphous inorganic non-metallic material, and is generally prepared by using various inorganic minerals (such as quartz sand, borax, boric acid, barite, barium carbonate, limestone, feldspar, soda ash and the like) as main raw materials and adding a small amount of auxiliary raw materials. Its main components are silicon dioxide and other oxides. The main component of the common glass is silicate double salt which is amorphous solid with a random structure. The light-transmitting composite material is widely applied to buildings, is used for isolating wind and transmitting light, and belongs to a mixture. Colored glass in which an oxide or salt of a certain metal is mixed to develop a color, tempered glass produced by a physical or chemical method, and the like are also available.
Glass uses extensively, in the in-process of glass processing production, needs carry out operations such as edging to it, and at this in-process, adopt artifical transport glass to need many people's collaborative operation, and is inefficient, consumes a large amount of physical powers, still easily breaks glass carelessly simultaneously.
Therefore, a sucker type power-assisted manipulator is provided to facilitate the carrying and processing of the large glass.
Disclosure of Invention
The invention aims to provide a sucker type power-assisted manipulator to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a sucker type power-assisted manipulator comprises a main arm, an execution claw and a pneumatic control box, wherein the main arm consists of an arm frame and a top suspension assembly, the top end of the arm frame is fixedly connected with a rotating shaft rod, and the surface of the rotating shaft rod is provided with a driving cylinder through a rotating seat;
the execution claw is composed of a rectangular frame and a plurality of support rods around the rectangular frame, a round rod is fixedly connected to the middle of the rectangular frame, a through hole is formed in the side face of the bottom end of the arm frame, the bottom end of the arm frame is sleeved on the surface of the round rod through the through hole, and a negative pressure sucker is arranged at one end, away from the rectangular frame, of each support rod; the front surface of the bottom end of the rectangular frame is provided with a first rotating shaft seat, and the bottom telescopic end of the driving cylinder is rotatably connected with a rotating shaft of the first rotating shaft seat through a workpiece with a hole;
the both sides of arm frame are passed through connecting rod and pneumatic control case fixed connection, the bottom of pneumatic control case is provided with electric power access line, negative pressure pipe and gas-supply pipe, the other end that pneumatic control case was kept away from to the negative pressure pipe is connected with the vacuum pump, the other end that pneumatic control case was kept away from to the gas-supply pipe is connected with the air pump.
Preferably, the top suspension assembly comprises a second rotating shaft seat fixedly connected to the top end of the arm frame, and a hanging plate with holes is sleeved on the surface of a rotating shaft of the second rotating shaft seat.
Preferably, the side of negative pressure suction cup passes through bolt fixedly connected with mounting panel, fixedly connected with buffer spring between mounting panel and the branch, the small-size seat that rotates of side fixedly connected with of mounting panel, the pivot and the branch fixed connection of small-size seat that rotate, the side fixedly connected with of mounting panel extends to the inside mouth-piece of negative pressure suction cup, the mouth-piece passes mounting panel fixedly connected with negative pressure hose.
Preferably, the frame structure of the rectangular frame is a hollow square tube, a plurality of tube penetrating ports for penetrating negative pressure hoses are formed in two sides of the rectangular frame, a bus tube hole is formed in the front face of the rectangular frame, the negative pressure hoses penetrate through the inside of the frame of the rectangular frame and are communicated with the negative pressure tube inside the air control box, a vacuum air valve is arranged at the joint of the negative pressure tubes, and a control button for controlling the vacuum air valve is arranged on the surface of the air control box.
Preferably, the gas pipe in the gas control box is communicated with the connecting pipe of the two gas cavities of the driving cylinder through a two-position five-way electromagnetic valve, and the upper surface of the gas control box is provided with a control button for controlling the two-position five-way electromagnetic valve.
Preferably, a vacuum pressure gauge is embedded in the surface of the pneumatic control box and communicated with the negative pressure pipe, and the circumference of the pneumatic control box is provided with support rods.
Preferably, a sucking disc formula helping hand manipulator, its characterized in that: further comprising: a sucker bracket and an electric box;
the sucker support comprises a handrail, a computer control box, a sucker cylinder, a telescopic cylinder, a vertical cylinder and a gas distribution pipe;
the top of the sucker support is fixedly connected with the left end of the handrail, and the bottom of the sucker support is fixedly connected with the bottom of the sucker cylinder;
the right end of the armrest is fixedly connected with the outside of the computer control box;
the computer control box is electrically connected with the telescopic cylinder, the air pressure control valve, the vertical cylinder and the sucker cylinder through an arranged integrated circuit;
a first hole is formed in the axis of the bottom of the sucker cylinder, a second hole is formed in the axis of the top of the sucker, and the inner wall of the sucker cylinder is fixedly connected with the outer wall of the vertical cylinder;
the telescopic cylinder is connected with the air pressure control valve, the vertical cylinder and the sucker cylinder through air pipes;
the bottom of the gas distribution pipe is inserted into a gas pipe arranged at the top of the sucker cylinder;
the inside of electric box is provided with the air pressure control valve, the bottom fixed mounting of electric box has telescopic cylinder.
Preferably, the method further comprises the following steps: a controller and a display screen;
the controller is arranged inside a metal box body of the sucker type power-assisted manipulator;
the display screen is placed on the upper part of the metal box body of the sucker type power-assisted manipulator and is connected with the controller through an electric wire;
the controller is used for calculating the sucking disc suction force P of the sucking disc type power-assisted manipulator based on the principle of the airflow negative pressure type sucking disc:
wherein, P represents the suction force of the sucker type power-assisted manipulator sucker; d represents the diameter of the sucker type power-assisted mechanical hand sucker; n represents the number of the suckers of the sucker type power-assisted mechanical sucker; k1Representing the safety factor when the sucker adsorbs the workpiece; k2Expressing the working condition coefficient of the sucker type power-assisted manipulator; k3The orientation coefficient of the sucker type power-assisted manipulator is expressed, and the value of the orientation coefficient is the reciprocal of the friction force
f is the friction coefficient between the sucker and the adsorbed workpiece; p is a radical of0The atmospheric pressure of the environment where the sucker type power-assisted manipulator works is represented; p is a radical of2The pressure at the outlet of the nozzle of the sucker type power-assisted manipulator is represented;
the controller is used for calculating the cylinder driving force F of the sucker type power-assisted manipulatorDrive the：
Wherein, FDrive theThe cylinder driving force of the sucker type power-assisted manipulator is expressed; p represents the suction force of the sucker type power-assisted manipulator; d represents the value of the diameter of the sucker type power-assisted manipulator sucker; d represents the value of the cylinder diameter of the sucker type power-assisted manipulator;
if the cylinder driving force of the sucker type power-assisted manipulator is greater than a first preset value and the sucker suction force is greater than a second preset value, the sucker type power-assisted manipulator can normally work;
otherwise, reminding of increasing the number of the suckers or replacing the air cylinder is carried out.
Advantageous effects
The invention provides a sucker type power-assisted manipulator which has the following beneficial effects:
1. this sucking disc formula helping hand manipulator through setting up second pivot seat and foraminiferous link plate, makes this helping hand manipulator can hang on equipment such as hoist, navigation car, carries out the displacement, adopts a plurality of negative pressure sucking discs of pneumatic control box control to carry out the absorbent mode of taking to the glass surface, can fix glass fast, and is also very convenient when putting down glass simultaneously to it is efficient, simple convenient to make this helping hand manipulator transport glass.
2. This sucking disc formula helping hand manipulator drives actuating cylinder through pneumatic control box control, makes the absorbent glass of negative sucker can carry out 90 rotations, makes it can satisfy the processing demand of vertical angle, has set up buffer spring simultaneously between negative sucker and branch, and the impact force when being convenient for slow down negative sucker and glass contact prevents to lead to glass breakage because of the rigid contact, has also improved the security simultaneously.
3. This sucking disc formula helping hand manipulator through the sucking disc support that sets up, including handrail, computer control box, sucking disc cylinder, telescopic cylinder, perpendicular cylinder and gas-distributing pipe and electric box, to us sucking disc rhinoceros P and the cylinder drive power of sucking disc formula helping hand manipulator carry out a measurement and set up to can be more nimble when effectively mentioning required work piece mention the work piece of different specifications.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic front view (without the pneumatic control box) of the present invention;
FIG. 3 is a schematic side sectional view of a rectangular frame according to the present invention;
FIG. 4 is a cross-sectional view of the connection between the support rod and the vacuum chuck of the present invention;
FIG. 5 is a schematic view of the pneumatic control box of the present invention;
fig. 6 is a structural connection diagram of the present invention.
In the figure: 1 pneumatic control box, 2 arm frames, 3 rotating shaft rods, 4 rotating seats, 5 driving cylinders, 6 rectangular frames, 7 supporting rods, 8 round rods, 9 negative pressure suction cups, 10 first rotating shaft seats, 11 workpieces with holes, 12 connecting rods, 13 second rotating shaft seats, 14 hanging plates with holes, 15 mounting plates, 16 buffer springs, 17 small rotating seats, 18 interface tubes, 19 negative pressure hoses, 20 bus tube holes, 21 connecting tubes, 22 vacuum pressure gauges, 23 holding rods, 701 suction cup supports, 7011 handrails, 7012 computer control boxes, 7013 suction cup cylinders, 7014 telescopic cylinders, 7015 vertical cylinders and 7016 gas distribution tubes.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides a sucking disc formula helping hand manipulator, includes main arm, execution claw and pneumatic-control box 1, and the main arm hangs the subassembly by arm frame 2 and top and forms, and the top hangs the subassembly and includes second pivot seat 13 of fixed connection on 2 tops of arm frame, and the pivot surface cover of second pivot seat 13 is equipped with foraminiferous link plate 14, and the top fixedly connected with pivot pole 3 of arm frame 2, and the surface of pivot pole 3 is installed through rotating seat 4 and is driven actuating cylinder 5.
The execution claw is composed of a rectangular frame 6 and a plurality of support rods 7 around the rectangular frame 6, a round rod 8 is fixedly connected to the middle of the rectangular frame 6, a through hole is formed in the side face of the bottom end of the arm frame 2, the bottom end of the arm frame 2 is sleeved on the surface of the round rod 8 through the through hole, and a negative pressure sucker 9 is arranged at one end, far away from the rectangular frame 6, of each support rod 7; the front surface of the bottom end of the rectangular frame 6 is provided with a first rotating shaft seat 10, and the bottom telescopic end of the driving cylinder 5 is rotatably connected with a rotating shaft of the first rotating shaft seat 10 through a workpiece 11 with a hole;
the side of the negative pressure sucker 9 is fixedly connected with a mounting plate 15 through a bolt, a buffer spring 16 is fixedly connected between the mounting plate 15 and the support rod 7, the side of the mounting plate 15 is fixedly connected with a small rotating seat 17, a rotating shaft of the small rotating seat 17 is fixedly connected with the support rod 7, the side of the mounting plate 15 is fixedly connected with a joint pipe 18 extending to the inside of the negative pressure sucker 9, and the joint pipe 18 penetrates through the mounting plate 15 and is fixedly connected with a negative pressure hose 19.
This sucking disc formula helping hand manipulator drives actuating cylinder 5 through pneumatic control box 1 control, makes the absorbent glass of negative sucker 9 can carry out 90 rotations, makes it can satisfy the processing demand of vertical angle, has set up buffer spring 16 simultaneously between negative sucker 9 and branch 7, and the impact force when being convenient for slow down negative sucker 9 and glass contact prevents to lead to glass breakage because of the rigid contact, has also improved the security simultaneously.
The both sides of arm frame 2 are through connecting rod 12 and pneumatic control box 1 fixed connection, and the bottom of pneumatic control box 1 is provided with electric power access line, negative pressure pipe and gas-supply pipe, and the other end that pneumatic control box 1 was kept away from to the negative pressure pipe is connected with the vacuum pump, and the other end that pneumatic control box 1 was kept away from to the gas-supply pipe is connected with the air pump.
The frame structure of rectangle frame 6 is hollow square pipe, a plurality of poling mouths that are used for penetrating negative pressure hose 19 have been seted up to the both sides of rectangle frame 6, bus tube hole 20 has been seted up on the front of rectangle frame 6, many negative pressure hose 19 pass the inside negative pressure pipe intercommunication with pneumatic control case 1 inside of the framework of rectangle frame 6, and the junction is provided with vacuum air valve, pneumatic control case 1's surface is provided with the control button that is used for controlling vacuum air valve, pneumatic pipe inside pneumatic control case 1 is linked together through two five-way solenoid valves and the connecting pipe 21 that drives two air cavities of actuating cylinder 5, pneumatic control case 1's upper surface is provided with the control button that is used for controlling two five-way solenoid valves, pneumatic control case 1's surface inlays and is equipped with vacuum pressure gauge 22, vacuum pressure gauge 22 and negative pressure pipe intercommunication, pneumatic control case 1 installs.
This sucking disc formula helping hand manipulator through setting up second pivot seat 13 and foraminiferous link plate 14, makes this helping hand manipulator can hang on equipment such as hoist, navigation car, carries out the displacement, adopts a plurality of negative pressure sucking discs of pneumatic control box 1 control 9 to carry out the absorbent mode of taking to the glass surface, can fixed glass fast, and it is also very convenient when putting down glass simultaneously to it is efficient, simple convenient to make this helping hand manipulator transport glass.
The working principle is as follows: when the sucker type power-assisted manipulator is used for taking a large glass piece which is horizontally placed, firstly, the crane is controlled to drive the manipulator to integrally move to the position above the glass, the smoothness of a power access line, a negative pressure pipe and a gas pipe is kept constantly, then the pneumatic control box 1 controls the driving cylinder 5 to shrink so as to enable the rectangular frame 6 to be parallel to the glass, then the crane is controlled to slowly lower the whole manipulator, when the negative pressure sucker 9 is contacted with the surface of the glass, the crane is controlled to stop lowering, then the negative pressure sucker 9 is pressed with the surface of the glass, air in the negative pressure sucker 9 is sucked out through the control button to form a vacuum state, when the vacuum degree reaches 0.85Kgf, vacuumizing is stopped, then the driving cylinder 5 can be controlled to extend, the glass is turned over and kept in a vertical state, so that the space occupation in the displacement process is reduced, when the glass piece moves to a destination, the driving cylinder 5 can be controlled to horizontally, then the negative pressure of the negative pressure pipe is cut off under the control of the pneumatic control box 1, and the negative pressure sucker 9 and the glass can be separated by introducing the outside air through the three-way valve electromagnetic valve, thereby completing the transportation of the glass.
A suction cup type power-assisted manipulator, as shown in fig. 6, further comprising: a suction cup holder 701 and an electrical box 702;
the sucker support 701 comprises an armrest 7011, a computer control box 7012, a sucker cylinder 7013, a telescopic cylinder 7014, a vertical cylinder 7015 and a gas distribution pipe 7016;
the top of the sucker support 701 is fixedly connected with the left end of the armrest 7011, and the bottom of the sucker support 701 is fixedly connected with the bottom of the sucker cylinder 7013;
the right end of the armrest 7011 is fixedly connected with the outside of the computer control box 7012;
the computer control box 7012 is electrically connected to the telescopic cylinder 7014, the pneumatic control valve 7021, the vertical cylinder 7015 and the suction cup cylinder 7013 through an integrated circuit;
a first hole is formed in the axis of the bottom of the sucker cylinder 7003, a second hole is formed in the axis of the top of the sucker 13, and the inner wall of the sucker cylinder 7013 is fixedly connected with the outer wall of the vertical cylinder 7015;
the telescopic cylinder 7014 is connected with an air pressure control valve 7021, a vertical cylinder 7015 and a sucker cylinder 7013 through air pipes;
the bottom of the gas distribution pipe 7016 is inserted into a gas pipe arranged at the top of the sucking disc cylinder 7013;
the inside of electrical box 702 is provided with air pressure control valve 7021, the bottom fixed mounting of electrical box 702 has flexible cylinder 7014.
The working principle and the beneficial effects of the technical scheme are as follows: the sucker type power-assisted manipulator requires that the arm has lifting, stretching and rotating motions when taking and placing workpieces, so a cylindrical coordinate type is adopted, and cylindrical coordinate systems O1 and O2 are respectively established at the upright column and the arm;
step 1: the sucker type power-assisted manipulator pulls a workpiece out of the die through the telescopic cylinder 7014;
step 2: after the sucker type power-assisted manipulator pulls out the workpiece, the workpiece is adjusted from the horizontal direction to the vertical direction so as to avoid collision between the workpiece and a die part;
and step 3: after the sucker type power-assisted mechanical arm adjusts the workpiece to be in the vertical direction, the workpiece is lifted through the vertical cylinder 7015 so as to leave the die;
and 4, step 4: after the sucker type power-assisted mechanical hand lifts the workpiece, the workpiece is led back from the end part of the arm to the center of the upright post;
and 5: after the sucker type power-assisted manipulator leads the workpiece back, aiming at the structural characteristics of a mold of a horizontal injection molding machine, the wrist must be rotated to correctly place the workpiece;
through the sucking disc support that sets up, including handrail, computer control box, sucking disc cylinder, telescopic cylinder, perpendicular cylinder and gas-distributing pipe, to us sucking disc suction of sucking disc formula helping hand manipulator measure and set up to can select the sucking disc of different quantity to satisfy the demand.
The invention provides a sucker type power-assisted manipulator, which further comprises: a controller and a display screen;
the controller is arranged inside a metal box body of the sucker type power-assisted manipulator;
the display screen is placed on the upper part of the metal box body of the sucker type power-assisted manipulator and is connected with the controller through an electric wire;
the controller is used for calculating the sucking disc suction force P of the sucking disc 13 of the sucking disc type power-assisted manipulator based on the principle of the airflow negative pressure type sucking disc:
wherein, P represents the suction force of the sucker type power-assisted manipulator sucker; d represents the diameter of the sucker type power-assisted mechanical hand sucker; n represents the suction cup typeThe number of suckers of the power-assisted mechanical sucker; k1Representing the safety factor when the sucker adsorbs the workpiece; k2Expressing the working condition coefficient of the sucker type power-assisted manipulator; k3The orientation coefficient of the sucker type power-assisted manipulator is expressed, and the value of the orientation coefficient is the reciprocal of the friction force
f is the friction coefficient between the sucker and the adsorbed workpiece; p is a radical of0The atmospheric pressure of the environment where the sucker type power-assisted manipulator works is represented; p is a radical of2The pressure at the outlet of the nozzle of the sucker type power-assisted manipulator is represented;
the controller is used for calculating the cylinder driving force F of the sucker type power-assisted manipulatorDrive the：
Wherein, FDrive theThe cylinder driving force of the sucker type power-assisted manipulator is expressed; p represents the suction force of the sucker type power-assisted manipulator; d represents the value of the diameter of the sucker type power-assisted manipulator sucker; d represents the value of the cylinder diameter of the sucker type power-assisted manipulator;
if the cylinder driving force of the sucker type power-assisted manipulator is greater than a first preset value and the sucker suction force is greater than a second preset value, the sucker type power-assisted manipulator can normally work;
otherwise, reminding of increasing the number of the suckers or replacing the air cylinder is carried out.
The working principle and the beneficial effects of the technical scheme are as follows: the sucking disc type power-assisted manipulator adopts an airflow negative pressure type sucking disc, and a part is sucked by utilizing negative pressure formed in the sucking disc; the device is suitable for conveying a plurality of thin-sheet-shaped workpieces, such as thin iron sheets, plates, paper, thin-wall broken glassware, arc-shaped shell parts and the like, particularly glassware and non-metal thin sheets, and has more obvious adsorption effect; the airflow negative pressure type hand has the characteristics of simple structure, light weight, uniform surface adsorption force distribution and the like, and has no influence on the surface quality of a workpiece; thereby the work task of lifting the workpiece can be well completed.
The first hole is a hole which is fixedly connected with the sucker on the sucker cylinder, and the second hole is a hole at the top of the sucker and fixedly connected with the vertical cylinder;
the first preset value is a theoretical value of the suction force of the sucker, and the second preset value is a theoretical value of the cylinder driving force of the sucker type power-assisted manipulator.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a sucking disc formula helping hand manipulator, includes main arm, execution claw and pneumatic control case (1), its characterized in that:
the main arm consists of an arm frame (2) and a top suspension assembly, the top end of the arm frame (2) is fixedly connected with a rotating shaft rod (3), and a driving cylinder (5) is installed on the surface of the rotating shaft rod (3) through a rotating seat (4);
the execution claw is composed of a rectangular frame (6) and a plurality of support rods (7) around the rectangular frame (6), a round rod (8) is fixedly connected to the middle of the rectangular frame (6), a through hole is formed in the side face of the bottom end of the arm frame (2), the bottom end of the arm frame (2) is sleeved on the surface of the round rod (8) through the through hole, and a negative pressure sucker (9) is arranged at one end, far away from the rectangular frame (6), of each support rod (7); a first rotating shaft seat (10) is installed on the front face of the bottom end of the rectangular frame (6), and the bottom telescopic end of the driving cylinder (5) is rotatably connected with a rotating shaft of the first rotating shaft seat (10) through a workpiece (11) with a hole;
the both sides of arm frame (2) are passed through connecting rod (12) and pneumatic control box (1) fixed connection, the bottom of pneumatic control box (1) is provided with electric power access line, negative pressure pipe and gas-supply pipe, the other end that pneumatic control box (1) was kept away from to the negative pressure pipe is connected with the vacuum pump, the other end that pneumatic control box (1) was kept away from to the gas-supply pipe is connected with the air pump.
2. The suction cup type power-assisted manipulator of claim 1, wherein: the top suspension assembly comprises a second rotating shaft seat (13) fixedly connected to the top end of the arm frame (2), and a perforated hanging plate (14) is sleeved on the surface of a rotating shaft of the second rotating shaft seat (13).
3. The suction cup type power-assisted manipulator of claim 1, wherein: the side of negative pressure sucking disc (9) passes through bolt fixedly connected with mounting panel (15), fixedly connected with buffer spring (16) between mounting panel (15) and branch (7), the small-size seat (17) that rotates of side fixedly connected with of mounting panel (15), the pivot and the branch (7) fixed connection of small-size seat (17) that rotate, the side fixedly connected with of mounting panel (15) extends to inside interface tube (18) of negative pressure sucking disc (9), interface tube (18) pass mounting panel (15) fixedly connected with negative pressure hose (19).
4. The suction cup type power-assisted manipulator of claim 1, wherein: the frame structure of rectangle frame (6) is hollow square pipe, a plurality of poling mouths that are used for penetrating negative pressure hose (19) have been seted up to the both sides of rectangle frame (6), bus tube hole (20) have been seted up in the front of rectangle frame (6), and many negative pressure hose (19) pass the inside negative pressure pipe intercommunication with pneumatic control case (1) inside of the framework of rectangle frame (6), and the junction is provided with vacuum air valve, the surface of pneumatic control case (1) is provided with the control button who is used for controlling the vacuum valve.
5. The suction cup type power-assisted manipulator of claim 1, wherein: the air delivery pipe in the air control box (1) is communicated with a connecting pipe (21) of two air cavities of the driving air cylinder (5) through a two-position five-way electromagnetic valve, and a control button for controlling the two-position five-way electromagnetic valve is arranged on the upper surface of the air control box (1).
6. The suction cup type power-assisted manipulator of claim 1, wherein: the surface of pneumatic control case (1) inlays and is equipped with vacuum pressure gauge (22), vacuum pressure gauge (22) and negative pressure pipe intercommunication, install right pole (23) all around pneumatic control case (1).
7. The suction cup type power-assisted manipulator of claim 1, wherein: further comprising: a sucker bracket (701) and an electrical box (702);
the sucker support (701) comprises an armrest (7011), a computer control box (7012), a sucker cylinder (7013), a telescopic cylinder (7014), a vertical cylinder (7015) and a gas distribution pipe (7016);
the top of the sucker support (701) is fixedly connected with the left end of the armrest (7011), and the bottom of the sucker support (701) is fixedly connected with the bottom of the sucker cylinder (7013);
the right end of the armrest (7011) is fixedly connected with the outside of the computer control box (7012);
the computer control box (7012) is electrically connected with the telescopic cylinder (7014), the air pressure control valve (7021), the vertical cylinder (7015) and the sucker cylinder (7013) through an integrated circuit;
a first hole is formed in the axis of the bottom of the sucker cylinder (7003), a second hole is formed in the axis of the top of the sucker (13), and the inner wall of the sucker cylinder (7013) is fixedly connected with the outer wall of the vertical cylinder (7015);
the telescopic cylinder (7014) is connected with an air pressure control valve (7021), a vertical cylinder (7015) and a sucker cylinder (7013) through air pipes;
the bottom of the gas distribution pipe (7016) is inserted into a gas pipe arranged at the top of the sucking disc cylinder (7013);
the inside of electric box (702) is provided with air pressure control valve (7021), the bottom fixed mounting of electric box (702) has telescopic cylinder (7014).
8. The suction cup type power-assisted manipulator of claim 7, wherein: further comprising: a controller and a display screen;
the controller is arranged inside a metal box body of the sucker type power-assisted manipulator;
the display screen is placed on the upper part of the metal box body of the sucker type power-assisted manipulator and is connected with the controller through an electric wire;
the controller is used for calculating the sucking disc suction force P of a sucking disc (13) of the sucking disc type power-assisted manipulator based on the principle of the airflow negative pressure type sucking disc:
wherein, P represents the suction force of the sucker type power-assisted manipulator sucker; d represents the diameter of the sucker type power-assisted mechanical hand sucker; n represents the number of the suckers of the sucker type power-assisted mechanical sucker; k1Representing the safety factor when the sucker adsorbs the workpiece; k2Expressing the working condition coefficient of the sucker type power-assisted manipulator; k3The orientation coefficient of the sucker type power-assisted manipulator is expressed, and the value of the orientation coefficient is the reciprocal of the friction force
f is the friction coefficient between the sucker and the adsorbed workpiece; p is a radical of0The atmospheric pressure of the environment where the sucker type power-assisted manipulator works is represented; p is a radical of2The pressure at the outlet of the nozzle of the sucker type power-assisted manipulator is represented;
the controller is used for calculating the cylinder driving force F of the sucker type power-assisted manipulatorDrive the：
Wherein, FDrive theThe cylinder driving force of the sucker type power-assisted manipulator is expressed; p represents the suction force of the sucker type power-assisted manipulator; d represents the value of the diameter of the sucker type power-assisted manipulator sucker; d represents the value of the cylinder diameter of the sucker type power-assisted manipulator;
if the cylinder driving force of the sucker type power-assisted manipulator is greater than a first preset value and the sucker suction force is greater than a second preset value, the sucker type power-assisted manipulator can normally work;
otherwise, reminding of increasing the number of the suckers or replacing the air cylinder is carried out.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010789861.8A CN111872782A (en) | 2020-08-07 | 2020-08-07 | Sucking disc formula helping hand manipulator |
| PCT/CN2020/113145 WO2022027757A1 (en) | 2020-08-07 | 2020-09-03 | Suction cup type power-assisted manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010789861.8A CN111872782A (en) | 2020-08-07 | 2020-08-07 | Sucking disc formula helping hand manipulator |
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| CN111872782A true CN111872782A (en) | 2020-11-03 |
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| CN202010789861.8A Pending CN111872782A (en) | 2020-08-07 | 2020-08-07 | Sucking disc formula helping hand manipulator |
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| CN114434362B (en) * | 2022-02-25 | 2024-05-17 | 江苏新扬新材料股份有限公司 | Sucking disc centering clamp for fixing composite cylinder or cover |
| CN115071864A (en) * | 2022-07-25 | 2022-09-20 | 中迪机器人(盐城)有限公司 | A absorb side pressure formula buckle erection equipment for automobile decoration assembly |
| CN116967873B (en) * | 2023-09-20 | 2023-12-22 | 江苏振通门业有限公司 | Door plant edge burr remove device based on burglary-resisting door production |
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