CN113172613A - Spray pipe carrying manipulator - Google Patents

Abstract

The invention discloses a spray pipe carrying manipulator, which belongs to the technical field of power-assisted manipulators and comprises a manipulator host and a moving platform for bearing the manipulator host, wherein the manipulator host is provided with a hard arm upright post fixedly connected with the moving platform, a clamp part for clamping a workpiece and a balance cantilever capable of extending along the radial direction of the hard arm upright post in multiple stages; one end of the balance cantilever is rotatably connected with the hard arm upright post, the other end of the balance cantilever is hinged with the clamp part, a balance cylinder is arranged on the balance cantilever and used for driving the balance cantilever to extend in a balanced manner, the balance cantilever is positioned at the end of the clamp part and provided with a turnover cylinder, and the clamp part is driven by the turnover cylinder to drive a workpiece to be turned over from a first posture to a second posture.

Description

Spray pipe carrying manipulator

Technical Field

The invention relates to the technical field of power-assisted manipulators, in particular to a spray pipe carrying manipulator.

Background

The manipulator can imitate certain movements of human hand and arm, grasp, carry articles, etc. according to the fixed procedure, it can replace the heavy work of the human beings in order to realize mechanization and automation of production, apply to industrial machinery manufacturing extensively;

at present, in the process of assembling and colliding a spray pipe, the material taking state and the material discharging state of the spray pipe are not in the same posture, the spray pipe needs to be turned over for 90 degrees, and the problems of participation of multiple persons, long-time carrying and high labor intensity exist in the actual production process;

therefore, in view of the above problems, it is necessary to provide a safe and efficient nozzle carrying manipulator.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provides a spray pipe carrying manipulator.

In order to achieve the above purpose, the invention provides the following technical scheme:

the invention discloses a spray pipe carrying manipulator, which comprises: the manipulator comprises a manipulator host and a moving platform used for bearing the manipulator host, wherein the manipulator host is provided with a hard arm upright post fixedly connected with the moving platform, a clamp part for clamping a workpiece and a balance cantilever capable of extending along the hard arm upright post in a radial direction in multiple stages;

balance cantilever one end with hard arm stand swivelling joint, the other end articulates there is the anchor clamps part, be provided with balance cylinder on the balance cantilever, be used for the drive balance cantilever is balanced to be extended, balance cantilever is located the upset cylinder is installed to anchor clamps part end, through the upset cylinder drive anchor clamps part drives the work piece and overturns to the second gesture from first gesture.

Further, the manipulator host computer still includes the extension arm that extends towards the work piece, extension arm one end with balanced cantilever swivelling joint, the other end articulates there is the anchor clamps part, install extension arm one side the upset cylinder.

Furthermore, an operating handle used for pushing and pulling the extension arm is installed on the extension arm, and a plurality of buttons connected with a control system circuit are installed on the operating handle.

Furthermore, a fine adjustment component for driving the rotation angle of the clamp part is further arranged on the extension arm.

Further, the extension arm comprises a body and an extension arm split body which is rotatably connected with the body;

the body and the extension arm split body form a deformable connecting rod mechanism through the cross beam and the fine adjustment member.

Furthermore, the balance cantilever is provided with a parallel arm and an extending arm which is rotatably connected with the parallel arm through a rotary joint, the extending arm is a parallel four-bar linkage mechanism, and the balance cylinder is installed on the extending arm.

Furthermore, a braking device is installed at each rotary connection part, and the rotary angle is locked through the braking device.

Further, the hard arm stand column is fixedly connected with an air storage cylinder, and a one-way valve is installed on a pipeline between the air storage cylinder and an air source.

Furthermore, a clamping cylinder is arranged on the clamp part, and a workpiece is pneumatically clamped through the clamping cylinder.

Further, moving platform upper surface mounting has hard arm stand and security fence, the truckle is installed to the moving platform lower part, through the truckle removes moving platform, moving platform circumference swivelling joint has the support component, through the support component extension moving platform area, so that the auxiliary stay moving platform.

In the technical scheme, the invention provides a spray pipe carrying manipulator;

has the advantages that: compared with the prior art, the spray pipe carrying manipulator provided by the invention has the advantages that the automatic production is completed through the manipulator host, the production efficiency is improved, the manipulator host is provided with the balance cantilever, the working radius of the manipulator host is expanded through the balance cantilever, the tail end of the balance cantilever is hinged with the clamp part, in order to ensure the balance cantilever to extend in a balanced manner, the balance cantilever is provided with the balance cylinder, the balance is regulated and controlled through the extension and contraction of the piston rod of the balance cylinder, namely, the balance cantilever is in a horizontal floating state, and the aim of pushing and pulling the balance cantilever to;

the tail end of the balance cantilever is fixedly connected with the overturning air cylinder, a piston rod of the overturning air cylinder is hinged to the clamp part, when the piston rod of the overturning air cylinder extends out, the clamp part is driven to drive the workpiece to overturn to the second posture from the first posture, the problem that the workpiece is carried for a long time in the actual production process and labor intensity is high is solved, the workpiece carrying and overturning work is safely and efficiently completed, time and labor are saved, and production cost is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.

FIG. 1 is a front view of a disclosed spout handling robot;

FIG. 2 is a left side view of the disclosed spout handling robot;

FIG. 3 is a top view of the disclosed spout handling robot;

FIG. 4 is an enlarged partial view of the A position of the disclosed lance handling robot;

FIG. 5 is a schematic view of an embodiment of the disclosed nozzle handling robot after flipping a workpiece;

FIG. 6 is a schematic view of an embodiment of a clamp assembly of the present disclosure;

FIG. 7 is a schematic view of an embodiment of the disclosed operating handle;

FIG. 8 is a schematic view of an embodiment of a trim member of the present disclosure.

Description of reference numerals:

1. a hard arm upright; 2. balancing the cantilever; 201. a parallel arm; 202. an extension arm; 203. a balance cylinder; 3. a revolute joint; 301. a braking device; 302. fixing the disc; 4. an extension arm; 401. turning over the air cylinder; 402. an operating handle; 4021. a central shaft; 4022. an outer sleeve; 4023. a drive sleeve; 4024. a second bevel gear; 403. the extension arm is split; 404. a first cross member; 405. a second cross member; 406. a fine-tuning member; 4061. a screw; 4062. a nut seat; 4063. a first bevel gear; 5. a clamp member; 501. a clamping cylinder; 502. a telescopic rod; 503. an arcuate member; 504. a female member; 505. an accommodating space; 506. an elastic reset member; 6. an air cylinder; 7. a mobile platform; 701. a security fence; 702. a caster wheel; 704. a support member; 705. a hand wheel; 8. a passive locking mechanism; 801. a locking block; 802. a lock disc; 803. locking the air cylinder; 9. and (5) a workpiece.

Detailed Description

In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.

As shown in FIGS. 1-3; the embodiment of the invention provides a spray pipe carrying manipulator, which comprises: a manipulator main body for carrying a moving platform 7 of the manipulator main body; the manipulator host is provided with a hard arm upright post 1 fixedly connected with a moving platform 7, a clamp part 5 for clamping a workpiece 9 and a balance cantilever 2 which can extend along the radial direction of the hard arm upright post 1 in multiple stages; balance cantilever 2 one end is passed through rotary joint 3 and 1 swivelling joint of hard arm stand, and the other end articulates there is anchor clamps part 5, is provided with balance cylinder 203 on balance cantilever 2 for drive balance cantilever 2 is balanced to be extended, and balance cantilever 2 is located anchor clamps part 5 end and installs upset cylinder 401, drives anchor clamps part 5 through upset cylinder 401 and drives work piece 9 and overturn to the second gesture from first gesture.

Specifically, in the structure, the workpiece 9 is a horn-shaped spray pipe in the prior art, four circular pipes are uniformly distributed in the circumferential direction of the spray pipe, one group of two circular pipes are symmetrically distributed on two sides of the spray pipe, the clamp part 5 clamps any one group of circular pipes through an embedded clamping jaw, a clamping cylinder 501 is distributed on the clamp part 5, and the workpiece 9 is pneumatically clamped through the clamping cylinder 501;

a hard arm upright post 1 of the manipulator host is vertically and fixedly connected on a moving platform 7, the top end of the hard arm upright post 1 is horizontally and rotatably connected with a balance cantilever 2 through a rotary joint 3, the working radius of the manipulator host is expanded through the balance cantilever 2, and the tail end of the balance cantilever 2 is hinged with a clamp part 5;

in order to ensure that the balance cantilever 2 is extended in a balanced manner, the balance cylinder 203 is arranged on the balance cantilever 2, and the balance is regulated and controlled through the extension and contraction of a piston rod of the balance cylinder 203, namely, the balance cantilever is in a horizontal floating state, so that the balance cantilever 2 is conveniently pushed and pulled to move the position of the workpiece 9, and the workpiece 9 is conveyed from the position A to the position B;

the tail end of the balance cantilever 2 is fixedly connected with a turnover cylinder 401, a piston rod of the turnover cylinder 401 is hinged with the clamp part 5, and the balance cylinder 203 and the turnover cylinder 401 are controlled to move;

as shown in fig. 5, in operation, after the workpiece 9 is transported from the position a to the position B, the turnover cylinder 401 is started, the piston rod of the turnover cylinder 401 extends out to drive the clamp component 5 to drive the workpiece 9 to turn over from the first posture to the second posture, the turnover angle when the workpiece 9 is switched from the first posture to the second posture is 90 °, obviously, other turnover angles are also possible, and the first posture and the second posture correspond to two different states of the workpiece 9 in the processing and transporting process, such as a workpiece taking posture and a workpiece placing posture, so that the transportation and turnover of the workpiece 8 are completed safely and efficiently.

Referring to FIG. 1:

preferably, the manipulator host computer still includes the extension arm 4 that extends towards work piece 9, and extension arm 4 one end is passed through rotary joint 3 and balanced cantilever 2 swivelling joint, and the other end articulates there is anchor clamps part 5, and upset cylinder 401 is installed to extension arm 4 one side.

Specifically, as shown in fig. 1, the robot main unit further includes an extension arm 4, and the extension arm 4 is a vertically extending arm. That is to say, the extension arm 4 is parallel to the hard arm upright post 1, and the turning cylinder 401 is arranged on one side of the extension arm 4 to drive the clamp part 5 to drive the workpiece 9 to turn 90 degrees on the plumb bob plane, so that the switching between the workpiece taking posture and the workpiece placing posture of the workpiece 9 is realized;

as shown in fig. 1;

preferably, the extension arm 4 is provided with an operating handle 402 at the side of the hard arm upright 1 for pushing and pulling the extension arm 4, and the operating handle 402 is provided with a plurality of buttons connected with the control system circuit.

Specifically, the manipulator provided by the embodiment of the invention can be of a full-automatic structure, the manipulator can move completely by itself at the moment, or can be of a semi-automatic structure, the control of the movement amplitude and the movement start and end is performed by an operating handle at the moment, each power mechanism such as an air cylinder is mainly used for assisting power, namely, manpower is mainly used for direction control, specific bearing and force application are performed by the power mechanism, when the semi-automatic structure works, the clamp part 5 is controlled to clamp the workpiece 9 and the manipulator host machine to work by controlling a button on the operating handle 402, the use is convenient, and the operating handle 402 is convenient for a worker to push and pull the balance cantilever 2 to extend, so that the workpiece 9 can be carried in the working radius of the balance cantilever 2;

see fig. 1, 5;

preferably, the extension arm 4 is further provided with a fine adjustment member 406 for driving the rotation angle of the clamp part 5.

Specifically, as shown in fig. 5, after the overturning cylinder 401 drives the driving clamp component 5 to drive the workpiece 9 to overturn from the first posture to the second posture, and when the second posture does not meet the requirement for placing the workpiece 9 due to external factors, the rotation angle of the clamp component 5 can be finely adjusted by the fine adjustment component 406, so as to compensate for the deviation existing in the posture of the workpiece 9;

as shown in fig. 1;

preferably, the extension arm 4 comprises a body and an extension arm split 403 hinged with the body;

the body and the extension arm split 403 both form a deformable linkage, such as a quadrilateral mechanism, with the fine tuning member 406 through the cross beam.

Specifically, the extension arm 4 in the structure is a split structure, and comprises a body and an extension arm split 403;

the top end of the body of the extension arm 4 is rotatably connected with the extension arm 202 through a rotary joint 3, the lower part of the body is hinged with an extension arm split body 403, the tail end of the extension arm split body 403 is hinged with a clamp component 5, one side of the extension arm split body 403 is fixedly connected with a turning cylinder 401, and a piston rod of the turning cylinder 401 is rotatably connected with the clamp component 5;

a first beam 404 is fixedly connected to one side of the body of the extension arm 4, a second beam 405 is fixedly connected to one side of the extension arm split body 403, which is the same as the body, and an operating handle 402 is fixedly connected to the second beam 405, wherein a fine adjustment member 406 is connected between the first beam 404 and the second beam 405, and three edges of the first beam 404, the second beam 405 and the fine adjustment member 406 form a three-link mechanism;

the fine adjustment component 406 is a lead screw in the prior art, a hand wheel is distributed at one end of the fine adjustment component 406, the first cross beam 404 and the second cross beam 405 are both rotatably connected with mounting seats, and the extension arm split body 403 drives the clamp part 5 to rotate around a hinge point connected with the body through the screw transmission of the mounting seats and the fine adjustment component 406, specifically, the mounting seats of the first cross beam 404 are nuts, the nuts are in screw transmission with the fine adjustment component 406, and the mounting seats of the second cross beam 404 are rotatably connected with the fine adjustment component 406;

when the fine-tuning clamp is used, a hand wheel of the fine-tuning component 406 is rotated to change the effective connection length of the fine-tuning component 406, so that the included angle between two adjacent edges of the three-link mechanism is changed, the three-link mechanism is deformed, and the extension arm split body 403 rotates around a hinge point connected with the body under the driving of the second cross beam 405, so that the rotation angle of the clamp part 5 is finely tuned.

In this embodiment, the first beam 404, the second beam 405, the fine adjustment member 406 and the extension arm 4 (the body and the extension arm split 403 which are rotatably connected) form a quadrangle, and the fine adjustment member 406 can adjust the length of the extension arm 4 to finely adjust the angle of the body and the extension arm split 403 of the extension arm 4, so that the clamp part 5 is corrected after being used for a long time and deviating from the original position.

In an alternative embodiment, the fine adjustment member is screwed to the first beam 404 and/or the second beam 405 via a lever, such that the length adjustment is achieved by rotating a hand wheel to rotate the lever.

Obviously, the number of turns of rotation required for adjustment of the hand wheel is relatively large, which is relatively inconvenient to operate, in a further embodiment, as shown in fig. 7-8, the fine adjustment member 406 includes a screw 4061, a nut seat 4062 and a first bevel gear 4063, the nut seat is fixedly connected to the second beam 405, one end of the screw is rotatably connected to the nut seat, the other end of the screw is rotatably connected to the first beam 404, the screw is fixedly sleeved with the first bevel gear, the operating handle 402 is rotatably connected to the second beam 405 through a rotating shaft, the rotating shaft is fixedly sleeved with a second bevel gear 4024, the second bevel gear is engaged with the first bevel gear, so that the rotating shaft can be driven to rotate through rotation of the operating handle, the rotating shaft drives the first bevel gear to rotate, the first bevel gear drives the second bevel gear to rotate, the second bevel gear drives the screw to rotate, the screw rotates to change the positions of the first beam 404 and the second beam 405 relatively, so that the angle of the body of the extension arm 4 and the extension arm split 403 can be finely adjusted.

Generally speaking, the final purpose of adjusting is all to adjust extension arm components of a whole that can function independently 403 to vertical state, and further, set up extension arm components of a whole that can function independently 403 and second crossbeam 405 perpendicularly and set up to the integral type structure, both form L shape structure promptly, set up a spirit level this moment on the second crossbeam, observe whether the spirit level can be accurate adjust extension arm components of a whole that can function independently 403 to vertical position when so adjusting.

In this embodiment, it may also be necessary to rotate the entire clamp part 5 by rotating the operating handle, which is obviously contradictory to the angle adjustment performed by the operating handle, and further, the rotating shaft includes a central shaft 4021, the central portion of the central shaft is sleeved with an outer sleeve 4022, the operating handle is connected to the outer sleeve, at least one end of the central shaft is movably sleeved with a driving sleeve 4023, the outer sleeve can move back and forth on the central shaft, but the rotation of the outer sleeve can drive the rotating shaft to rotate, i.e., the outer sleeve is connected to the rotating shaft in an axial sliding manner, and is fixedly connected to the rotating shaft in a circumferential direction, and the axial sliding groove, sliding edge, protrusion, even spline structure, etc. can achieve the function, the driving sleeve is movably connected to the central shaft, and if the driving sleeve is connected to the central shaft through a bearing, the driving sleeve is fixedly connected to the central hole of the second bevel gear, but the tip of drive cover be provided with outer sleeve complex joint structure, be provided with the through-hole on the drive cover, the tip of outer sleeve is provided with the projection, perhaps spline fit structure again, so make, under normal condition, the rotation of operating handle only can drive anchor clamps part 5, and when needs adjust, along center pin axial displacement operating handle earlier for the drive cover is gone up in the outer sleeve joint, rotates the operating handle this moment again, and the outer sleeve will drive the drive cover, and then drives the second bevel gear, has realized foretell fine setting. At the moment, the operating handle has a plurality of actions, the clamp assembly is driven to rotate by daily rotation of the operating handle, the clamping assembly is driven to move by daily movement of the operating handle, and the angle of the clamp assembly is adjusted by slightly moving the operating handle (the outer sleeve is inserted into the driving sleeve) and then rotating the operating handle.

In a further embodiment, the circumferential transmission matching structure of the outer sleeve and the central shaft, such as the bulge, the spline and the like, only exists partially, such as the central shaft and the outer sleeve only have partial sections with spline matching, when the outer sleeve is in the middle position on the central shaft, the outer sleeve and the outer sleeve are in spline matching, when the outer sleeve slides to be matched with the driving sleeve, the spline matching is separated, at the moment, the operating handle only carries out fine adjustment, and the clamp assembly is driven to rotate asynchronously.

As shown in fig. 1;

preferably, the balance cantilever 2 has a parallel arm 201 and an extension arm 202 rotatably connected with the parallel arm 201 through a revolute joint 3, the extension arm 202 is a parallel four-bar linkage, and a balance cylinder 203 is mounted on the extension arm 202.

Specifically, in the structure, a balance cantilever 2 is provided with three rotary joints 3, the rotary joints 3 are 360-degree rotary joints, a parallel arm 201 is parallel to a horizontal plane, one end of the parallel arm 201 is rotatably connected with a hard arm upright 1 through the rotary joints 3, so that the balance cantilever 2 can rotate in 360 degrees parallel to the horizontal plane by taking the hard arm upright 1 as a center, the other end of the parallel arm 201 is rotatably connected with an extension arm 202 through the rotary joints 3, so that the balance cantilever 2 can be unfolded in two stages on the basis of the parallel arm 201, and further the working radius of the balance cantilever 2 is extended, the extension arm 202 is a parallel four-bar mechanism, the four-bar mechanism is provided with two parallel short arms with equal length and two parallel long arms with equal length, a balance cylinder 203 is arranged in parallel to the long arms and hinged with the short arms, a piston rod of the balance cylinder 203 is hinged with the long arms, and further the included angle between two adjacent rods of the four-bar mechanism is controlled by the expansion of the piston rod of the balance cylinder 203, further controlling the posture of the four-bar linkage mechanism to keep the balance of the balance cantilever 2;

as shown in fig. 1;

preferably, a brake device 301 is installed at each rotation connection, and the rotation angle is locked by the brake device 301.

Specifically, the top end of a hard arm upright post 1 is horizontally and rotatably connected with a parallel arm 201 through a rotary joint 3, the tail end of the parallel arm 201 is horizontally and rotatably connected with an extension arm 202 through the rotary joint 3, the tail end of the extension arm 202 is horizontally and rotatably connected with an extension arm 4 through the rotary joint 3, a braking device 301 is mounted on the rotary joint 3, the rotary angle is locked through the braking device 301, the braking device 301 is communicated with a control system, and when the locking device is used, the braking device 301 is controlled to be started through a button on an operation handle 402, so that the rotary angle of the rotary joint 3 is locked;

referring to fig. 4, in another preferred embodiment, the manipulator main body is further provided with a passive locking mechanism 8 for passively locking the revolute joint 3 to further improve the use safety of the manipulator main body;

specifically, a fixed disk 302 is arranged at a fixed position of the rotary joint 3, a passive locking mechanism 8 is arranged at a rotary position of the rotary joint 3, and the passive locking mechanism 8 comprises a locking block 801, a locking disk 802 and a locking cylinder 803 for driving the locking block 801;

the opposite surfaces of the lock block 801 and the lock disc 802 are both provided with locking surfaces, preferably, the locking surfaces are teeth formed on the opposite surfaces of the lock block 801 and the lock disc 802, when in locking, the teeth of the lock block 801 and the lock disc 802 are meshed with each other, and the teeth of the lock block 801 and the lock disc 802 are meshed with the teeth, so that the locking reliability of the locking surfaces is ensured;

the lock plate 802 is fixedly connected with the fixed plate 302, the locking cylinder 803 is fixedly connected with the rotary part of the rotary joint 3, the piston rod of the locking cylinder 803 is fixedly connected with the lock block 801, and the telescopic driving lock block 801 communicated with the piston rod of the locking cylinder 803 is meshed with or separated from the lock plate 802;

the passive locking mechanism 8 is configured to: when the passive locking mechanism 8 locks the rotary joint 3, the locking cylinder 803 drives the locking block 801 to be meshed with the tooth part of the lock disc 802, the locking cylinder 803 is communicated with the control system, the unlocking trigger time of the locking cylinder 803 is earlier than that of each moving part, the control system sets an interval time according to actual use requirements, such as 0.2 second earlier, and the locking trigger time is later than that of each moving part, such as 0.5-1 second later, namely when the manipulator host grabs a workpiece and suspends, the locking cylinder 803 is immediately locked after hovering in place, and the locking cylinder 803 is unlocked in advance during next movement, so that the passive locking rotary joint 3 is realized under the condition of not influencing normal use, namely under the static working condition; therefore, all the workpieces are in a passive locking state under the static working condition.

In an alternative embodiment, the main air passage is connected with two branch air passages, one branch air passage is connected with the locking cylinder 803, the other branch air passage is connected with the moving cylinder, the moving cylinder is a balance cylinder 203, a turnover cylinder 401, a clamping cylinder 501 and the like, the moving cylinder drives moving parts such as a cantilever, a manipulator and the like, and two branch air passages are respectively provided with a valve, so that the two valves are independently controlled to realize the passive locking effect.

In a preferred embodiment, a valve is arranged on the main air passage, a valve is arranged on the air dividing passage connected with the moving air cylinder, and a valve is not arranged on the air dividing passage connected with the locking air cylinder, so that the valve of the air dividing passage is moved to the main air passage to obtain an unexpected technical effect, namely, as long as the locking air cylinder is locked, the moving air cylinder cannot move necessarily, the phenomenon of forced interference cannot be generated, and if the moving air cylinder can move, the locking air cylinder is unlocked, so that the effect which can be realized by an automatic control system can be realized by depending on the change of the position of the valve necessarily, misjudgment cannot be realized, and the effect is better.

In a more preferred embodiment of the present invention,

as shown in fig. 1;

preferably, the hard arm upright post 1 is fixedly connected with an air storage cylinder 6, the air storage cylinder 6 is communicated with the air circuit loop, and a one-way valve is arranged on a pipeline between the air storage cylinder 6 and an air source.

Specifically, the side part of the hard arm upright post 1 is fixedly connected with an air storage cylinder 6, the air storage cylinder 6 is communicated with air supply pipelines of the balance cylinder 203, the overturning cylinder 401, the clamping cylinder 501 and the locking cylinder 803, a one-way valve is arranged on a pipeline between the air storage cylinder 6 and an air source, the one-way valve is opened when the pipeline supplies air, and is closed when the air supply is cut off, and in the structure, through the air storage cylinder 6, when the compressed air supply of an external air source is cut off, the air in the air storage cylinder 6 can enable each working cylinder to complete the action cycle;

as shown in fig. 1;

preferably, the hard arm upright 1 and the safety fence 701 are installed on the upper surface of the mobile platform 7, and the casters 702 are installed on the lower portion of the mobile platform 7, so that the mobile platform 7 can be moved by the casters 702.

Preferably, the moving platform 7 is circumferentially and rotatably connected with a supporting member 704, and the area of the moving platform 7 is expanded by the supporting member 704 so as to assist in supporting the moving platform 7.

Specifically, the movable platform 7 is of a quadrilateral structure, the upper center of the movable platform is fixedly connected with the hard arm upright post 1, the safety fence 701 is circumferentially distributed at the edge position, the four corners of the movable platform 7 are uniformly provided with the casters 702, the casters 702 comprise directional casters and universal casters, the two casters are matched for use, the movable platform is convenient to operate, the casters 702 can be made of non-metal materials, and the casters are prevented from scratching the ground;

in order to improve the stability of this moving platform 7 during operation, four bights swivelling joint of moving platform 7 has supporting component 704, supporting component 704 is the supporting beam, supporting component 704 one end and moving platform swivelling joint, be convenient for accomodate supporting component 704 at this moving platform 7 lateral part, supporting component 704 other end threaded connection has the landing leg, landing leg one end and ground contact, the other end has linked firmly hand wheel 705, terminal and the ground contact of ground contact or keeping away from ground through rotatory hand wheel 705 drive landing leg, during the use, supporting component 704 expandes, expand this moving platform 7 area, rotatory hand wheel 705 drive landing leg is terminal and the ground contact, and then realize this moving platform 7 of auxiliary stay.

In the technical scheme, the spray pipe carrying manipulator provided by the invention has a working principle;

a method of use; when the workpiece 9 is conveyed, a button of the brake device 301 on the operating handle 402 is pressed to make the brake device 301 in an off state;

pushing and pulling the operating handle 402, moving the clamp part 5 to a workpiece 9 placing position, aligning to a workpiece 9 clamping position, pressing a button of a clamping cylinder 501 on the operating handle 402, clamping the workpiece 9 by a clamping jaw of the clamp part 5, simultaneously triggering a detection valve in a control system, and automatically switching the whole manipulator host to a balance state when the workpiece 9 is completely clamped;

pushing and pulling the operating handle 402 to carry the workpiece 9 from the position a to the position B;

the button of the turning cylinder 401 on the operating handle 402 is pressed, the turning cylinder 401 drives the clamping component 5 to drive the workpiece 9 to turn by 90 degrees, and in addition, if the workpiece 9 is turned from the first posture to the second posture, and the second posture cannot meet the placement requirement of the workpiece 9 due to external factors (such as the self weight of the workpiece or the deviation of a clamping position), the fine adjustment component 406 can drive the extension arm split body 403 to drive the clamping component 5 to rotate, the rotation angle of the clamping component 5 is finely adjusted, and the deviation existing in the posture of the workpiece 9 is compensated;

the workpiece 9 is placed at a designated position after being turned over, a button of the clamping cylinder 501 on the operating handle 402 is pressed, and the clamping jaw of the clamp part 5 loosens the workpiece 9, so that one-time workpiece conveying is completed;

the control system will automatically switch to the "no-load balanced" state while the robot master releases the workpiece 9, and the parallel arm 201 and the extension arm 202 swing to the minimum radius state, waiting or proceeding to the next work cycle.

Has the advantages that: compared with the prior art, the spray pipe carrying manipulator provided by the invention has the advantages that the automatic production is completed through the manipulator host, the production efficiency is improved, the manipulator host is provided with the balance cantilever 2, the working radius of the manipulator host is expanded through the balance cantilever 2, the tail end of the balance cantilever 2 is hinged with the clamp part 5, in order to ensure the balance cantilever 2 to be balanced and extended, the balance cantilever 2 is provided with the balance cylinder 203, the balance is regulated and controlled through the extension and contraction of the piston rod of the balance cylinder 203, namely, the balance cantilever 2 is in a horizontal floating state, and the position of a workpiece 9 is moved by pushing and pulling the balance cantilever 2 in a labor-saving manner;

the tail end of the balance cantilever 2 is fixedly connected with a turning cylinder 401, a piston rod of the turning cylinder 401 is hinged to a clamp part 5, when the piston rod of the turning cylinder 401 extends out, the clamp part 5 is driven to drive a workpiece 9 to turn over from a first posture to a second posture, the problem that the labor intensity is large when the workpiece is carried for a long time in the actual production process is solved, the carrying and turning work of the workpiece 8 is safely and efficiently completed, time and labor are saved, and the production cost is reduced.

As shown in fig. 6, in another embodiment provided by the present invention, a fixture part 5 is provided, a main body of a workpiece 9 in each embodiment of the present invention is a tapered cylinder, four connecting rods are arranged on an outer side of the cylinder, and the connecting rods and the cylinder are movably arranged by cross rods, the clamping of the existing fixture part has a great difficulty, if the tapered cylinder is clamped, on one hand, the surface thereof is inclined and easily slides, on the other hand, the four connecting rods shield the clamping stroke, and the connecting rods are movably arranged to clamp the tapered cylinder, so that the cylinder is easily shaken, on the other hand, the connecting rods have a small target, and the actions required for positioning and clamping are complex, and the final clamping can be realized by performing a compound action through two or even three cylinders in the prior art. The clamp part 5 provided by this embodiment includes two telescopic links 502 that set up relatively, the tip of two telescopic links 502 all rotates and sets up 4 on the extension arm, telescopic link 502 one end is provided with the clamping part, the clamping part includes relative arc 503 and the interior concave part 504 that set up, form accommodating space 505 that is used for the connecting rod of centre gripping work piece 9 between arc 503 and the interior concave part 504, accommodating space has a tubaeform opening, the opening of a V-arrangement is formed like the tip of arc 503 and interior concave part 504, and simultaneously, in accommodating space, interior concave part 504 forms an interior concave cavity, to two clamping parts of two telescopic links 502, two interior concave parts set up relatively, the both ends that are the telescopic cylinder of die clamping cylinder 501 rotate respectively and set up on two telescopic links 502 this moment. The advantage of such a structure lies in, when needs location, telescopic cylinder drives two telescopic links 502 and carries out a thick location, rely on the opening of accommodation space loudspeaker form can aim at approximate alignment connecting rod and go into accommodation space, two accommodation space go into two connecting rods that set up relatively on the barrel respectively, telescopic cylinder expandes afterwards, two telescopic link 502 move of deviating from relatively, two technological effects appear this moment, one is the deviation through two telescopic links 502, force the connecting rod to get into the inner cavity, realize the firm fixed of connecting rod, its two, along with telescopic cylinder's further expansion, thereby two connecting rods are strutted and prop the work piece and press from both sides in order to realize pressing from both sides, because the connecting rod is strutted the clamp that realizes, on the one hand need not to consider the conical surface of barrel, on the other hand struts the clamp and gets comparatively firm, and above-mentioned clamping part location centre gripping is all very convenient.

Furthermore, the clamping portion is connected to the end portion of the telescopic rod 502 through the rotating shaft in a swinging mode, and meanwhile the clamping portion is connected with the telescopic rod 502 through the elastic resetting piece 506, if a torsion spring is arranged on the rotating shaft to serve as the elastic resetting piece 506, or two ends of one spring are respectively connected with the telescopic rod 502 and the clamping portion, the arrangement is used for enabling the telescopic cylinder to contract when the clamp part 5 needs to unload a workpiece, at the moment, the connecting rod enters the accommodating space from the inner concave cavity and then abuts against the upper arc-shaped piece 503, at the moment, the telescopic cylinder further contracts, as shown in fig. 6, along with swinging of the clamping portion, the connecting rod moves from the solid line position to the dotted line position and finally leaves the clamping portion, so that a series of operations of positioning, clamping and unloading can be achieved by abutting against the telescopic cylinder, and clamping and unloading are completely passive operations. Is extremely convenient.

While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.

Claims (10)

1. Spray tube transport manipulator includes: the manipulator is characterized by comprising a hard arm upright post (1) fixedly connected with the movable platform (7), a clamp part (5) for clamping a workpiece (9), and a balance cantilever (2) capable of extending along the radial direction of the hard arm upright post (1) in multiple stages;

balance cantilever (2) one end with hard arm stand (1) swivelling joint, the other end articulates there is anchor clamps part (5), be provided with balance cylinder (203) on balance cantilever (2), be used for the drive balance cantilever (2) are balanced to be extended, balance cantilever (2) are located anchor clamps part (5) end is installed upset cylinder (401), through upset cylinder (401) drive anchor clamps part (5) drive work piece (9) are followed first gesture upset to second gesture.

2. The lance handling robot according to claim 1, wherein the robot main body further comprises an extension arm (4) extending towards the workpiece (9), one end of the extension arm (4) is rotatably connected to the balancing boom (2), the other end is hinged to the clamp member (5), and the overturning cylinder (401) is installed on one side of the extension arm (4).

3. The lance handling robot of claim 2, wherein the extension arm (4) is provided with an operating handle (402) for pushing and pulling the extension arm (4), and the operating handle (402) is provided with a plurality of buttons electrically connected to the control system.

4. A lance handling robot according to claim 2 or 3, characterized in that the extension arm (4) is further provided with a fine adjustment means (406) for driving the rotation angle of the clamp part (5).

5. The lance handling robot of claim 4, wherein the extension arm (4) comprises a body and an extension arm split (403) rotatably connected to the body;

the body and the extension arm split body (403) form a deformable link mechanism through a cross beam and the fine adjustment component (406).

6. The lance handling robot according to claim 1, wherein the balance boom (2) has a parallel arm (201) and an extension arm (202) rotatably connected to the parallel arm (201) via a revolute joint (3), the extension arm (202) is a parallel four-bar linkage, and the balance cylinder (203) is mounted on the extension arm (202).

7. A lance handling robot according to claim 1 or 2 or 5, wherein a detent (301) is mounted at each of the swivel joints, by means of which detent (301) the swivel angle is locked.

8. The lance handling robot of claim 1, wherein the rigid arm column (1) is fixedly connected with an air cylinder (6), and a one-way valve is installed on a pipeline between the air cylinder (6) and an air source.

9. Nozzle handling manipulator according to claim 1, wherein the gripping elements (5) are provided with a clamping cylinder (501), and wherein the gripping cylinder (501) is used to pneumatically grip the workpiece (9).

10. A nozzle transfer robot according to claim 1, wherein the hard arm column (1) and the safety fence (701) are installed on the upper surface of the movable platform (7), casters (702) are installed on the lower portion of the movable platform (7), the movable platform (7) is moved by the casters (702), a support member (704) is circumferentially and rotatably connected to the movable platform (7), and the area of the movable platform (7) is expanded by the support member (704) so as to assist in supporting the movable platform (7).

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