CN113580097B - Automatic hydraulic manipulator - Google Patents
Automatic hydraulic manipulator Download PDFInfo
- Publication number
- CN113580097B CN113580097B CN202110899654.2A CN202110899654A CN113580097B CN 113580097 B CN113580097 B CN 113580097B CN 202110899654 A CN202110899654 A CN 202110899654A CN 113580097 B CN113580097 B CN 113580097B
- Authority
- CN
- China
- Prior art keywords
- grabbing
- sleeve
- lower sleeve
- swing
- flanges
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 91
- 239000000463 material Substances 0.000 claims description 36
- 230000000670 limiting effect Effects 0.000 claims description 17
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 5
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 5
- 241001330002 Bambuseae Species 0.000 claims description 5
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 5
- 239000011425 bamboo Substances 0.000 claims description 5
- 239000004033 plastic Substances 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 239000013585 weight reducing agent Substances 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims 2
- 238000001179 sorption measurement Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 7
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 230000010355 oscillation Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229910001018 Cast iron Inorganic materials 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000001066 destructive effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J1/00—Manipulators positioned in space by hand
- B25J1/08—Manipulators positioned in space by hand movably mounted in a wall
-
- 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
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
-
- 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
- B25J19/06—Safety devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an automatic hydraulic manipulator which comprises a track, an active travelling mechanism, a passive travelling mechanism, a grabbing mechanism and an equipment follow-up assembly, wherein the track is divided into a main track and an auxiliary track, each main track is provided with an active travelling mechanism, the active travelling mechanism walks on the main track, and the grabbing mechanism is connected with the active travelling mechanism; the grabbing mechanism comprises a lifting part and a grabbing part, the lifting part at least comprises a multi-stage hydraulic telescopic mechanism, and the grabbing part at least comprises a joint assembly and a grabbing hand assembly; the joint assembly comprises an upper sleeve and a triangular frame fixed at the bottom of the upper sleeve, and the upper sleeve is connected with a telescopic rod of the multi-stage hydraulic telescopic mechanism; the gripper assembly comprises a lower sleeve arranged on the triangular frame, a primary hydraulic telescopic mechanism fixed on the side wall of the lower sleeve, C-shaped drop arms connected with the lower sleeve in a sliding mode, and two clamping plates arranged on the end portions of the drop arms, wherein two ends of the lower sleeve are communicated, and one drop arm is inserted into each of the two ends of the lower sleeve.
Description
Technical Field
The invention relates to an automatic hydraulic manipulator.
Background
The existing hydraulic grippers have the following problems: at present, the mechanical gripper has a single grabbing mode, basically comprises a sucker type, a clamping type, an electromagnetic magnetic attraction type and the like, wherein the sucker type and the electromagnetic magnetic attraction type are most common, and the application is the most, but no matter what type is adopted, the grabbed objects are relatively single, the sucker type can only grab some objects with light weight and smooth surfaces, the electromagnetic magnetic attraction type can only grab the magnets with iron materials as main materials, the surfaces of the grabbed objects are smooth, the grabbing limit is more, and the single function adaptability is poor; the construction amount is great when current mechanical tongs are installed, and current mechanical tongs adopt the structural style who carries the driving like more, erects the track in the mid-air in workshop promptly, with mechanical tongs along orbital motion, realizes snatching the conveying effect, arranges like this that whole construction amount is big, installs inconveniently.
Therefore, the multifunctional or practical performance of the mechanical gripper needs to be improved, and the problem that the existing installation mode is difficult to install and the construction amount is large is solved.
Disclosure of Invention
In order to solve the technical problems, the technical scheme includes that the automatic hydraulic manipulator comprises a track, an active travelling mechanism, a passive travelling mechanism, a grabbing mechanism and an equipment follow-up assembly, wherein the track is divided into a main track and auxiliary tracks, the main track and the auxiliary tracks are fixed on a wall surface and are arranged in parallel with the ground, each main track is provided with an active travelling mechanism, the active travelling mechanism can walk on the main track, and the grabbing mechanism is connected with the active travelling mechanism;
The grabbing mechanism comprises a lifting part and a grabbing part, the lifting part at least comprises a multi-stage hydraulic telescopic mechanism, and the grabbing part at least comprises a joint assembly and a grabbing hand assembly;
The joint assembly comprises an upper sleeve and a triangular frame fixed at the bottom of the upper sleeve, and the upper sleeve is in threaded connection with a telescopic rod of the multi-stage hydraulic telescopic mechanism;
The gripper assembly comprises a lower sleeve arranged on the triangular frame, a primary hydraulic telescopic mechanism fixed on the side wall of the lower sleeve, C-shaped drop arms connected with the lower sleeve in a sliding manner, two clamping plates arranged on the end parts of the drop arms, two ends of the lower sleeve are communicated, two ends of the lower sleeve are respectively inserted with one drop arm, the primary hydraulic telescopic mechanism is arranged in parallel with the axis of the lower sleeve, two ends of the lower sleeve are provided with sliding grooves, the sliding grooves extend from the opening of the lower sleeve to the direction of the primary hydraulic telescopic mechanism, the primary hydraulic telescopic mechanism penetrates through the sliding grooves and is fixedly connected with the drop arms through connecting pieces, the bottom ends of the drop arms are hinged with swing arms, the clamping plates are fixed on the swing arms, the rotation angles of the swing arms are 180 degrees, limiting measures for limiting swing of the swing arms are arranged on the clamping plates, and rubber anti-skid layers are arranged on the clamping plates;
the auxiliary rail is positioned below the main rail, and is provided with a passive travelling mechanism which is connected with the active travelling mechanism through a connecting piece and moves along with the active travelling mechanism;
The equipment follow-up assembly comprises a box body and auxiliary equipment arranged in the box body, wherein the auxiliary equipment at least comprises circuit equipment necessary for other mechanisms to operate, and the box body is fixed on the passive travelling mechanism.
On the basis of the technical scheme, the clamping plate is provided with a threaded through hole I.
On the basis of the technical scheme, the holding plate is provided with the holding groove, and the center of the holding groove is provided with the through hole II.
On the basis of the technical scheme, the auxiliary equipment further comprises a vacuum generator, the vacuum chuck is arranged on the through hole I of the clamping plate, and an air pipe of the vacuum generator penetrates through the box body to be connected with the vacuum chuck.
On the basis of the technical scheme, the auxiliary equipment further comprises a vacuum generator, the connector of the vacuum chuck is fixedly penetrated with a spring a, the connector is connected in the accommodating groove through the spring a, an air pipe of the vacuum generator sequentially penetrates through the box body and the through hole II and then is connected to the vacuum chuck, and when the spring a is compressed to the limit, the chuck body of the vacuum chuck can still absorb objects outside the accommodating groove, and the accommodating groove limits the vacuum chuck to break away from the accommodating groove through limiting measures.
On the basis of the technical scheme, the grabbing mechanism further comprises an anti-swing mechanism, the anti-swing mechanism comprises rollers, the rollers are kept in contact with the wall surface, and the anti-swing mechanism is detachably arranged on the side wall of the upper sleeve through the frame.
On the basis of the technical scheme, the anti-swing mechanism further comprises a telescopic sleeve and a spring b, the telescopic sleeve comprises an inner cylinder and an outer cylinder which are mutually sleeved together, the inner cylinder is fixed on the side wall of the upper sleeve, annular first flanges, annular second flanges and annular third flanges are respectively arranged on the outer wall of the inner cylinder, the first flanges are positioned at one ends close to the inner cylinder, the second flanges and the third flanges are positioned at the other ends and keep clearance fit with each other, the spring b is arranged between the inner cylinder and the outer cylinder and fixedly connected with the outer cylinder, clamping bamboo shoots are arranged on the inner wall of the outer cylinder and between the second flanges and the third flanges, a rack for installing rollers is further arranged in the outer cylinder, and the rollers are installed on the rack and are in contact with a wall surface.
On the basis of the technical scheme, the outer cylinder is made of plastic, and the frame in the outer cylinder is detachably connected with the roller.
On the basis of the technical scheme, the inner cylinder and the outer cylinder are provided with hollow structures for weight reduction.
On the basis of the technical scheme, the anti-swing mechanism can be connected to the frame.
The beneficial effects are that: the mechanical gripper is redesigned, is arranged on the wall surface, is erected by depending on the wall surface, and avoids time and labor consumption during aerial erection. The gripping mechanism has all functions of the clamping type gripper, can be directly used as the clamping type gripper, can swing when being clamped by the clamping type gripper, is provided with a threaded through hole, can be provided with a vacuum chuck on the clamping plate at any time to form the sucking disc type gripper, is correspondingly provided with an equipment follow-up component beside the mechanical gripper main body, and is internally provided with vacuum generating equipment to ensure the stable work of the vacuum chuck. If the materials of the magnets such as cast iron are required to be adsorbed, the vacuum chuck can be replaced by an electromagnetic chuck, so that the multifunctional vacuum chuck has multifunction.
Still set up anti-swing mechanism, prevent tongs subassembly and by snatched the thing and bump with the periphery under the extreme case, can set up sleeve or frame on anti-swing mechanism simultaneously according to the wall condition for avoid the wall of unevenness or be unfavorable for the gyro wheel work.
Drawings
Fig. 1 is a schematic side view of a first embodiment of the present invention.
Fig. 2 is a schematic front view of a first embodiment of the present invention.
Fig. 3 is an enlarged partial schematic view of fig. 1 according to a first embodiment of the present invention.
Fig. 4 is a schematic cross-sectional view of a vacuum chucking multifunctional scheme according to a first embodiment of the present invention.
Fig. 5 is a schematic cross-sectional view of a vacuum chucking multifunctional scheme according to a second embodiment of the present invention.
Fig. 6 is an enlarged partial schematic view of fig. 5 in accordance with the present invention.
Fig. 7 is a schematic structural view of a third embodiment of the present invention.
Fig. 8 is a schematic cross-sectional view of fig. 7 in accordance with the present invention.
Detailed Description
Embodiment one.
The embodiment aims at providing a scheme which does not need to erect a manipulator in the mid-air of a factory building, and meanwhile, the scheme has various modes for grabbing materials, and is high in adaptability and multifunction.
The application method of the embodiment is as follows:
1. Clamping mode
1. Starting an active travelling mechanism 3 to drive a grabbing mechanism to move above the materials to be grabbed on the main rail 1;
2. starting the multistage hydraulic telescopic mechanism 5 to drive the joint assembly and the handle assembly to descend;
3. Stopping descending when the gripper assembly descends to approach the material;
4. starting a primary hydraulic telescopic mechanism 9 positioned on the lower sleeve 8, driving the drop arm 10 to slide on the frame 7, and stopping sliding the drop arm 10 when the spacing between the clamping plates 16 is enough to cover the materials;
5. Starting the multi-stage hydraulic telescopic mechanism 5 again, and stopping when the clamping plates 16 continue to descend to be positioned on two sides of the material;
6. starting the primary hydraulic telescopic running mechanism again to drive the clamping plate 16 to clamp the material, and starting the multistage hydraulic telescopic mechanism 5 to drive the material to rise;
7. Starting the active travelling mechanism 3 again to drive the material to horizontally move to a designated position;
8. And (5) repeating the step 2.
2. Other modes of gripping
The limiting means on the drop arm 10 are released, the limit on the swing arm 12 is released, the swing arm 12 is rotated to the angle specified by the user and the limiting means is again enabled, and other gripping devices are mounted on the gripping plate 16 to "grip" the material.
In this embodiment, the multi-stage hydraulic telescopic mechanism 5 and the one-stage hydraulic telescopic mechanism 9 may be of the prior art, and may be identical in structural principle, and the telescopic rods of the two may have threaded holes for easy connection. But the threaded holes do not allow direct connection to the frame 7 and therefore require the use of an upper sleeve 6 to provide the transfer function. The corresponding lower sleeve 8 for supporting the extension and retraction needs to be stably mounted on the upper sleeve 6 by using an additional connection mode, so that the frame 7 needs to be used as a scheme for bearing the lower sleeve 8 and connecting the upper sleeve 6, the triangular structure has stronger stability and saves materials, and the frame 7 is triangular in shape. It should be noted that, in the preferred triangle shape of the frame 7 in this embodiment, not only the shape can be used, but also a quadrilateral or other shape can be used, and only the upper sleeve 6 matched with the triangle shape can be replaced, which means that each frame 7 with a different shape is provided with an upper sleeve 6, and only the upper sleeve 6 needs to be disassembled for replacing the frame 7 with a different shape. The rubber anti-slip layer 13 on the clamping plate 16 can increase friction force, and other friction force increasing schemes can be adopted.
In this embodiment, the clamping effect can be achieved without the frame 7, but the lower sleeve 8 needs to be adapted for connection when being directly connected with the upper sleeve 6, a connecting piece is still needed for connection, and the lower sleeve 8 is difficult to detach if bending deformation occurs downwards after long-time use. Therefore, the frame 7 can be used as a platform, the adapting connection is convenient, more accessories can be installed on the frame 7, even two pairs of four hanging arms 10 can be arranged on the frame 7, and the scheme of double grippers or more grippers is realized.
In order to reduce the whole volume and make the design more compact, a primary hydraulic telescopic mechanism 9 for controlling the telescopic of the drop arm 10 is arranged on the lower sleeve 8, two lower sleeves 8 are arranged on the frame 7, and the two lower sleeves 8 can be coaxially arranged; the lower hanging arm 10 is C-shaped, the top end of the lower hanging arm is inserted into the lower sleeve 8 and slides and stretches in the lower sleeve, and the bottom end of the lower hanging arm hangs down from the frame; a chute 11 is formed in the side wall of the lower sleeve 8, and the drop arm 10 can be connected with a primary hydraulic telescopic mechanism 9 through the chute 11, and the telescopic motion of the mechanism drives the drop arm 10 to synchronously move.
The swing arm 12 is hinged to the bottom end of the drop arm 10, and the limiting measure of the drop arm 10 can limit free swing of the swing arm 12 to enable the swing arm to be fixed at a preset angle. The limiting measure can adopt various existing schemes, in the embodiment, a stable thread fixing scheme can be optimized, as shown in fig. 1 and 3, a baffle plate 30 is arranged at the end part of the hanging arm 10, a plurality of fixing holes 31 are arranged on the baffle plate 30 in an array, and correspondingly, connecting holes 32 are arranged on the swing arm 12, and the connecting holes 32 and the fixing holes 31 are aligned and fixed together by threads, so that the limiting effect can be realized; the scheme is simple, reliable and stable in effect, but not only can the scheme be selected, but also other limiting measures can be selected to achieve the limiting effect.
In this embodiment, since there are other grabbing modes, the grabbing schemes adopted by the other grabbing modes may be installed on the through hole i 15 on the clamping plate 16, and corresponding auxiliary equipment may also exist, in order to reduce the load of the grabbing mechanism, the auxiliary rail 2 is disposed on the wall surface, and the passive walking mechanism 4 without autonomous power is disposed on the auxiliary rail 2. Unlike the active running gear 3 of a similar running scheme (other available existing track self-running schemes can also be adopted), the passive running gear 4 only needs to be capable of sliding on the auxiliary rail 2, and can be connected to the active running gear 3 through a connecting piece or a rack to drive the vehicle to run. The box body 14 for accommodating auxiliary equipment is arranged on the passive travelling mechanism 4, the auxiliary equipment required by other grabbing modes is arranged in the box body 14, the box body 14 can be opened, the operations such as inspection, maintenance and wiring are facilitated, and if a mechanism for connecting other grabbing schemes by using a pipeline is needed, the pipeline can directly penetrate through the box body 14.
There are also preferred embodiments in this embodiment, and other gripping mode embodiments are preferred, namely a vacuum gripper solution.
In the preferred embodiment, the vacuum gripper is a combination of a conventional vacuum generator and a vacuum chuck 19, the vacuum generator is arranged in the box 14, the vacuum chuck 19 is arranged on a threaded through hole I15 on the clamping plate 16, and an air pipe of the vacuum generator penetrates through the box 14 to be connected with the vacuum chuck 19. When the scheme of the vacuum chuck 19 is needed to grasp the material, if the material is plate-shaped or sheet-shaped, the swing arm 12 is rotated downwards, and the vacuum generator is started to suck the material; if the material is strip-shaped or narrower and longer sheet-shaped, the swing arm 12 can be rotated upwards, the clamping plate 16 is lowered to a height lower than the material, the active travelling mechanism 3 is started again, the drop arm 10 is driven to horizontally move to sleeve the material, the clamping plate 16 is ensured to be under the material and in clearance fit with the material, the vacuum generator is started finally, the drop arm 10 is lifted, and the vacuum chuck 19 is tightly used for sucking the material to lift, so that grabbing is realized.
Embodiment two.
The present embodiment is made on the basis of the first embodiment, further optimizing the first embodiment vacuum gripping scheme. It is provided that the vacuum cups 19 can be placed on the clamping plate 16 without affecting the clamping plate 16 to grasp the material 100 in a clamping mode.
The holding plate 16 is provided with a holding groove 17, and if the thickness of the holding plate 16 is insufficient to form the holding groove 17, a convex structure can be arranged on the back of the holding plate 16 to accommodate the grabbing schemes of other grabbing modes, and preferably, the vacuum chuck 19 connector 21 is accommodated.
A through hole II 18 is formed in the center of the accommodating groove 17, a spring a20 is sleeved outside the connector 21, and one end of the spring a20 is fixedly connected with the outer wall of the connector 21, the other end of the spring a20 is fixed in the accommodating groove 17, and an air pipe of the vacuum generator penetrates through the through hole II 18 and is connected to the connector 21 as the connector 21 is at least provided with a connecting seat for connecting the sucker body 33. The spring a20 keeps natural extension under the unstressed state, at this moment, the sucking disc body 33 of the vacuum sucking disc 19 is completely extended out of the accommodating groove 17, when the material needs to be grabbed, the vacuum sucking disc 19 is pushed into the accommodating groove 17, the spring a20 is compressed and reaches the limit of the stroke, at this moment, the sucking disc body 33 is also compressed, an effective adsorption surface is formed to be flush with the surface of the clamping plate 16 (or the rubber anti-slip layer 13), and at this moment, the grabbing assembly achieves the effects of clamping the material 100 and sucking the material 100.
The effective adsorption surface is that the suction cup body 33 of the vacuum suction cup 19 is always compressed and deformed when the material 100 is adsorbed, so as to ensure the air tightness condition, and the compression and deformation are stopped when the air tightness condition is met after the air tightness condition is compressed to a certain degree, at this time, a virtual adsorption surface is formed between the outer edge of the suction cup body 33 of the vacuum suction cup 19 and the material 100, the shape of the adsorption surface is determined by the shape of the material 100, and the adsorption surface is defined as the effective adsorption surface. The effective adsorption surface can be derived (or approximately derived) from the parameters of the vacuum chuck 19, or can be derived experimentally. For example, after the suction cup body 33 of a vacuum suction cup 19 is compressed and deformed, the whole length is shortened by 1.5cm, and the mounting spring a20 stretches out of the accommodating groove 173cm in a normal state, so that the compression stroke of the spring a20 is 3cm minus 1.5cm, and the final compression stroke is not more than 1.5cm.
In order to avoid uncontrolled extension of the vacuum chuck 19 from the receiving groove 17 in extreme cases, a limiting measure is provided in the receiving groove 17 to avoid its detachment from the receiving groove 17, which may be implemented by conventional limiting structures like a stop plate, a stop block, etc. Meanwhile, in order to reduce the adapting difficulty of the spring a20, a limiting measure for limiting the vacuum chuck 19 to excessively retract into the accommodating groove 17 can be further provided, for example, a stop block is also provided at a position inside the inner wall of the accommodating groove 17, and when the outer wall of the connector 21 touches the stop block, the effective adsorption surface of the chuck body 33 of the vacuum chuck 19 is just flush with the surface of the clamping plate 16.
The embodiment enables the clamping plate 16 to not only exert the due transverse clamping effect, but also provide additional vacuum adsorption effect and stronger clamping stability when the clamping plate 16 exerts the clamping effect. Correspondingly, when the function of the vacuum chuck 19 is independently exerted, the vacuum chuck 19 can be directly used after the air pipe is connected without being installed in advance, and the convenience is high.
Embodiment three.
The present embodiment is implemented on the basis of the first or second embodiment. Because the grabbing mechanism is arranged on the wall surface, the active travelling mechanism 3 is connected with the side surface of the grabbing mechanism (namely, the multi-stage hydraulic telescopic mechanism 5) in the most direct and simple mode, but if the telescopic stroke of the corresponding multi-stage hydraulic telescopic mechanism 5 is long, the situation of material swing possibly occurs, the situation is shown in the main view schematic diagram in fig. 2, the left and right direction of the situation is the left and right direction of the material swing, the risk of impacting the wall surface exists when the material swings back and forth, and if the grabbed material is made of glass or other brittle materials, the loss is easy to cause.
In this case, this embodiment provides the anti-swing mechanism, and this mechanism main part is gyro wheel 22, and gyro wheel 22 passes through the frame and connects at last sleeve 6 lateral wall to keep contacting with the wall all the time, gyro wheel 22 atress when grabbing the subassembly and being on a parallel with the wall, go up sleeve 6 and appear rocking back and forth when grabbing the subassembly and being non-parallel with the wall, can keep suitable interval owing to gyro wheel 22 exists when swinging to the wall direction, avoid the material striking wall, perhaps appear striking wall's risk.
In this embodiment, there is a preferable example, which focuses on solving the problem that the stress of the roller 22 cannot be buffered, and absorbing or even counteracting the impact force by telescoping the telescopic sleeve 23, so as to improve the service life of the roller 22 and the mounting frame thereof.
The use method of the preferred embodiment is as follows:
When the upper sleeve 6 swings towards the wall surface, the inner cylinder 25 moves towards the wall surface, the outer cylinder 26 is driven to move towards the wall surface under the action of the spring b24, and the outer cylinder 26 is limited between the second flange 28 and the third flange 29 through the clamping bamboo shoots 34, so that the force applied to the inner cylinder 25 can be absorbed by the spring b 24; when the force applied to the inner cylinder 25 causes the spring b24 to be compressed to the limit, the clamping bamboo shoots 34 break through the limit of the second flange 28, so that the inner cylinder 25 continues to move towards the wall surface; when the inner cylinder 25 touches the frame provided with the roller 22, the movement is stopped by the frame, triple stop of swinging is realized, the first flange, the second flange and the third flange are annular flanges, and the annular flanges are circumferentially arranged on the outer wall of the inner cylinder.
The triple blocking is sufficient for general oscillation, and if the inner cylinder 25 still breaks through the frame limitation in the outer cylinder 26, the force indicating the oscillation to which the upper sleeve 6 is subjected is destructive, and any measure may not be able to limit the oscillation.
When the catch 34 is between the second flange 28 and the third flange 29, a stop and a limit can be formed immediately for small swings. The spring b24 is fixed on the outer cylinder 26, is only slidably mounted on the inner cylinder 25 and is blocked by the first flange 27 of the inner cylinder 25, and the spring b24 is stably placed between the inner cylinder 25 and the outer cylinder 26, so that the spring b24, the outer cylinder 26, the bracket, the roller 22 and the like which are deformed under force or have the service life can be replaced conveniently.
In this preferred embodiment, since the force applied during swinging does not directly act on the outer cylinder 26, but is transferred to the outer cylinder 26 through the spring, the clamping bamboo shoots 34 and the second flange 28, the outer cylinder 26 can be made of plastic with weaker strength, the inner cylinder 25 can be made of metal with higher strength, in order to avoid damage to the frame caused by multiple impacts of the inner cylinder 25, the roller 22 is detachably connected with the frame, and the roller 22 can be detached for continuous use when the frame is damaged.
In this preferred embodiment, in order to reduce the weight of the swing preventing mechanism, hollow structures may be provided on the inner cylinder 25 and the outer cylinder 26. In this preferred embodiment, in order to reduce the load on the upper sleeve 6, the swing preventing mechanism may be provided on the frame 7.
Claims (8)
1. The automatic hydraulic manipulator is characterized by comprising a rail, an active travelling mechanism, a passive travelling mechanism, a grabbing mechanism and an equipment follow-up assembly, wherein the rail is divided into a main rail and auxiliary rails, the main rail is a plurality of main rails, the main rail and the auxiliary rails are fixed on a wall surface and are arranged in parallel with the ground, each main rail is provided with an active travelling mechanism, the active travelling mechanism can walk on the main rail, and the grabbing mechanism is connected with the active travelling mechanism;
The grabbing mechanism comprises a lifting part and a grabbing part, the lifting part at least comprises a multi-stage hydraulic telescopic mechanism, and the grabbing part at least comprises a joint assembly and a grabbing hand assembly;
The joint assembly comprises an upper sleeve and a triangular frame fixed at the bottom of the upper sleeve, and the upper sleeve is in threaded connection with a telescopic rod of the multi-stage hydraulic telescopic mechanism;
The gripper assembly comprises a lower sleeve arranged on the triangular frame, a primary hydraulic telescopic mechanism fixed on the side wall of the lower sleeve, C-shaped drop arms connected with the lower sleeve in a sliding manner, two clamping plates arranged on the end parts of the drop arms, two ends of the lower sleeve are communicated, two ends of the lower sleeve are respectively inserted with one drop arm, the primary hydraulic telescopic mechanism is arranged in parallel with the axis of the lower sleeve, two ends of the lower sleeve are provided with sliding grooves, the sliding grooves extend from the opening of the lower sleeve to the direction of the primary hydraulic telescopic mechanism, the primary hydraulic telescopic mechanism penetrates through the sliding grooves and is fixedly connected with the drop arms through connecting pieces, the bottom ends of the drop arms are hinged with swing arms, the clamping plates are fixed on the swing arms, the rotation angles of the swing arms are 180 degrees, limiting measures for limiting swing of the swing arms are arranged on the clamping plates, and rubber anti-skid layers are arranged on the clamping plates;
the auxiliary rail is positioned below the main rail, and is provided with a passive travelling mechanism which is connected with the active travelling mechanism through a connecting piece and moves along with the active travelling mechanism;
The equipment follow-up assembly comprises a box body and auxiliary equipment arranged in the box body, wherein the auxiliary equipment at least comprises circuit equipment necessary for other mechanisms to operate, and the box body is fixed on the passive travelling mechanism;
the grabbing mechanism further comprises an anti-swing mechanism, the anti-swing mechanism comprises a roller, the roller is kept in contact with the wall surface, and the anti-swing mechanism is detachably arranged on the side wall of the upper sleeve through the frame;
The anti-swing mechanism further comprises a telescopic sleeve and a spring b, the telescopic sleeve comprises an inner cylinder and an outer cylinder which are mutually sleeved together, the inner cylinder is fixed on the side wall of the upper sleeve, annular first flanges, annular second flanges and annular third flanges are respectively arranged on the outer wall of the inner cylinder, the first flanges are located at one end close to the inner cylinder, the second flanges and the third flanges are located at the other end and keep clearance fit with each other, the spring b is arranged between the inner cylinder and the outer cylinder and fixedly connected with the outer cylinder, clamping bamboo shoots are arranged on the inner wall of the outer cylinder and between the second flanges and the third flanges, a rack used for installing rollers is further arranged in the outer cylinder, and the rollers are installed on the rack and are in contact with a wall surface.
2. An automated hydraulic manipulator according to claim 1, wherein the clamping plate is provided with a threaded through hole i.
3. An automated hydraulic manipulator according to claim 1, wherein the holding plate is provided with a receiving slot, and the center of the receiving slot is provided with a through hole ii.
4. An automated hydraulic manipulator according to claim 2, wherein the auxiliary equipment further comprises a vacuum generator, wherein the vacuum chuck is mounted on the through hole i of the clamping plate, and an air pipe of the vacuum generator passes through the box body to be connected with the vacuum chuck.
5. An automated hydraulic manipulator according to claim 3, wherein the auxiliary device further comprises a vacuum generator, the vacuum chuck is fixedly provided with a spring a in a penetrating manner, the connector is connected in the accommodating groove through the spring a, the air pipe of the vacuum generator is connected to the vacuum chuck after sequentially penetrating through the box body and the through hole ii, and the chuck body of the vacuum chuck can still hold objects outside the accommodating groove when the spring a is compressed to a limit, and the accommodating groove limits the vacuum chuck from being separated therefrom through a limiting measure.
6. An automated hydraulic manipulator according to claim 1, wherein the outer barrel is of plastics material and the frame in the outer barrel is detachably connected to the rollers.
7. The automated hydraulic manipulator of claim 6, wherein the inner barrel and the outer barrel are each provided with a hollowed-out structure for weight reduction.
8. An automated hydraulic manipulator according to claim 7, wherein the anti-sway mechanism is alternatively provided on the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110899654.2A CN113580097B (en) | 2021-08-06 | 2021-08-06 | Automatic hydraulic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110899654.2A CN113580097B (en) | 2021-08-06 | 2021-08-06 | Automatic hydraulic manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113580097A CN113580097A (en) | 2021-11-02 |
| CN113580097B true CN113580097B (en) | 2024-04-26 |
Family
ID=78255700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110899654.2A Active CN113580097B (en) | 2021-08-06 | 2021-08-06 | Automatic hydraulic manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113580097B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116922436B (en) * | 2023-09-18 | 2023-11-24 | 天津滨电电力工程有限公司 | Manipulator for overhauling power equipment |
| CN117181651B (en) * | 2023-11-07 | 2024-01-26 | 长春职业技术学院 | Manipulator intelligent classification device based on visual recognition |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205272036U (en) * | 2015-12-17 | 2016-06-01 | 彭建国 | Five robots of lateral wall formula |
| CN107322628A (en) * | 2017-09-06 | 2017-11-07 | 安徽海拓志永智能装备股份有限公司 | The industrial robot clamping device of flat panel workpieces processing |
| CN209425438U (en) * | 2019-08-19 | 2019-09-24 | 湖南生物机电职业技术学院 | A kind of material-feeding and fetching manipulator |
| CN210025344U (en) * | 2019-05-22 | 2020-02-07 | 江苏省交通技师学院 | Mechanical grabbing device for industrial robot |
| CN111660315A (en) * | 2020-05-19 | 2020-09-15 | 江阴市双平机械有限公司 | Novel manipulator |
| CN212978355U (en) * | 2020-08-25 | 2021-04-16 | 彭娟 | Disc moving device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107484414A (en) * | 2014-12-25 | 2017-12-15 | 朗于泽尔汽车供应工业与贸易有限责任公司 | For tyre vulcanized mould and with the cleaning assemblies and method of adjustable cage |
| US10654176B2 (en) * | 2017-10-31 | 2020-05-19 | Amazon Technologies, Inc. | Finger assembly having a talon and barrel cam actuation |
-
2021
- 2021-08-06 CN CN202110899654.2A patent/CN113580097B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205272036U (en) * | 2015-12-17 | 2016-06-01 | 彭建国 | Five robots of lateral wall formula |
| CN107322628A (en) * | 2017-09-06 | 2017-11-07 | 安徽海拓志永智能装备股份有限公司 | The industrial robot clamping device of flat panel workpieces processing |
| CN210025344U (en) * | 2019-05-22 | 2020-02-07 | 江苏省交通技师学院 | Mechanical grabbing device for industrial robot |
| CN209425438U (en) * | 2019-08-19 | 2019-09-24 | 湖南生物机电职业技术学院 | A kind of material-feeding and fetching manipulator |
| CN111660315A (en) * | 2020-05-19 | 2020-09-15 | 江阴市双平机械有限公司 | Novel manipulator |
| CN212978355U (en) * | 2020-08-25 | 2021-04-16 | 彭娟 | Disc moving device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113580097A (en) | 2021-11-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113580097B (en) | Automatic hydraulic manipulator | |
| KR102190090B1 (en) | Multi-purpose plate lifting system with fixing means for descent and acent moving | |
| CN111197409A (en) | Portable movable type plate laying and transferring equipment | |
| CN106379814A (en) | Crane pulley lifting grabbing device | |
| CN114261882A (en) | Assembled building wallboard hoist device | |
| ES2305806T3 (en) | ELEVATOR DEVICE FOR THE DISPLACEMENT OF AN ARTICLE. | |
| CN209337632U (en) | It is portable to hold handling device | |
| CN217996522U (en) | Assembled building wallboard hoist device | |
| KR102280772B1 (en) | Vacuum suction plate lifting system with cyclone dust collector | |
| CN105347166A (en) | Lifting device | |
| CN209853614U (en) | Tubular pile hoist | |
| CN210682477U (en) | Stacking device capable of clamping and rotating | |
| CN210474910U (en) | Glass cleaning electric lifting appliance | |
| CN220299714U (en) | Multifunctional vacuum gripper device | |
| CN211974387U (en) | Portable movable plate laying and transferring equipment | |
| CN219950382U (en) | Lifting device for door and window construction | |
| CN113635997B (en) | Automobile skylight assembling equipment and assembling method thereof | |
| CN221143615U (en) | Building curtain wall mounting device | |
| CN220701139U (en) | Conveying device for machine tool | |
| CN218260688U (en) | Clamping device | |
| CN217897243U (en) | Hanging basket with anti-falling mechanism for building construction | |
| CN215364436U (en) | Chargeable type vacuum suction transportation equipment | |
| CN217780110U (en) | Carrier plate glass grabbing and transferring device | |
| CN218403483U (en) | A supplementary installing support for building electromechanical installation engineering | |
| CN221140807U (en) | Clamping and supporting integrated vacuum suction tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |