CN201073767Y - Pneumatic anti-torsion power-assisted manipulator - Google Patents
Pneumatic anti-torsion power-assisted manipulator Download PDFInfo
- Publication number
- CN201073767Y CN201073767Y CNU2007200970003U CN200720097000U CN201073767Y CN 201073767 Y CN201073767 Y CN 201073767Y CN U2007200970003 U CNU2007200970003 U CN U2007200970003U CN 200720097000 U CN200720097000 U CN 200720097000U CN 201073767 Y CN201073767 Y CN 201073767Y
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- CN
- China
- Prior art keywords
- parallelogram
- locking member
- guide rail
- hanger bracket
- pneumatic
- 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.)
- Expired - Lifetime
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Abstract
The utility model relates to a pneumatic torsion-resistant power-assisted manipulator, which is characterized in that: a suspension bracket is connected in contact with a guide rail, and the suspension bracket is tightly pressed on the guide rail through a pinch roller; an upper locking member and an upper rotating shaft are arranged at the bottom of the suspension bracket, the upper rotating shaft below the suspension bracket is connected with a parallelogram, and a lower rotating shaft and a lower locking member are arranged below the front bar of the parallelogram. A vertical adjustment part is arranged at the lower part of the lower rotating shaft, the lower end of the vertical adjustment part is connected with a horizontal adjustment part, and a fixture and a handle are arranged on the horizontal adjustment part; a pneumatic equalizing part is fixedly arranged on the rear bar of the parallelogram, and a counterweight is arranged at one end part of the upper bar of the parallelogram. The utility model has the advantages of resisting large torque, enabling the counterforce to be fully applied on the manipulator rather than the operator, and rendering the manipulator in a gravity-free state, so as to help the operator to complete various operations of screwing the bolts easily and conveniently.
Description
Technical field
The utility model belongs to machinery manufacturing technology field, particularly relates to a kind of reduce labor intensity, ensure job safety and the pneumatic antitorque power-assisted manipulator of enhancing productivity.
Background technology
The fastening of various bolts is absolutely necessary in industrial production, and the operation at aspects such as carrying, location and assemblings at present generally is to adopt the power-assisted manipulator to finish.Existing power-assisted manipulator is not provided with locking member and following locking member structure usually, between hanger bracket and the guide rail contact roller is not installed, and can only be subjected to gravity usually and can not bear cross force and moment of torsion.Process along with modern production, in the process of assemblings such as automobile, main equipment, the screwing force of bolt is more and more higher, requirement to screwing force is also more and more higher, cause the workman can't resist so big reaction force, required so existing power-assisted manipulator more and more is not suitable for development of modern industry.
Summary of the invention
The utility model can be resisted high pulling torque for the technical problem that exists in the solution known technology provides a kind of, and reaction force is acted on the manipulator fully, makes the operator not bear any active force; And utilize the aerodynamics principle, and make manipulator be in null-gravity state, the operator can realize the pneumatic antitorque power-assisted manipulator of various operations easily, easily.
The technical scheme that the utility model is taked for the technical problem that exists in the solution known technology is: pneumatic antitorque power-assisted manipulator, it is characterized in that: comprise hanger bracket and guide rail, on guide rail, connect hanger bracket by bearings mounted nylon wheel contact, hanger bracket is pressed on the guide rail by contact roller, the hanger bracket bottom is equipped with locking member and last turning cylinder, the last turning cylinder that is positioned at the hanger bracket below is connected with parallelogram, turning cylinder and following locking member are housed down below the preceding bar of parallelogram, vertical adjustment member is equipped with in following turning cylinder bottom, vertically the adjustment member lower end is connected with the horizontal adjusting part, on the horizontal adjusting part, anchor clamps and handle are installed, be fixed with the air-balance part on the back bar of parallelogram, counterweight also is equipped with in upper boom one end of parallelogram.
The utility model can also adopt following technical scheme:
The described locking member of going up is setting-in polyurethane structural in the metal material with following locking member.
Described anchor clamps and horizontal adjusting partly are movable assembly structure.
Advantage and the good effect that the utlity model has are: because the utility model is provided with contact roller between hanger bracket and guide rail, make torsional interaction on guide rail and contact roller, avoided the bearings mounted nylon wheel of hanger bracket and guide rail to swing in guide rail; Upper and lower locking member compresses by large diameter air cylinder driven between the axle and separates with rotating up and down, with frictional force opposing cross force and moment of torsion.Go up locking member and following locking member employing high-strength polyurethane material in addition, improve coefficient of friction; And utilize the aerodynamics principle, and make manipulator be in null-gravity state, the operator can realize various operations easily, easily.The utility model operation is comfortable, safe in utilization, has realized the purpose that man-machine thing is coordinated production.When assembling, can alleviate assembler's labour intensity greatly, not only improve assembly quality and production efficiency, but also can improve production automation degree, labor savings.
Description of drawings
Fig. 1 is a front view of the present utility model;
Fig. 2 is the right view of Fig. 1.
Among the figure: 1, guide rail; 2, contact roller; 3, hanger bracket; 4, go up turning cylinder; 5, go up locking member; 6, parallelogram; 6-1, preceding bar; 6-2, back bar; 6-3, upper boom; 7, following locking member; 8, vertical adjustment member; 9, horizontal adjusting part; 10, anchor clamps; 11, handle; 12, counterweight; 13, air-balance part; 14, following turning cylinder.
The specific embodiment
For further understanding summary of the invention of the present utility model, characteristics and effect, exemplify following examples now, and conjunction with figs. is described in detail as follows:
See also Fig. 1 and Fig. 2, pneumatic antitorque power-assisted manipulator comprises guide rail 1, hanger bracket 3, goes up turning cylinder 4, down turning cylinder 14, go up locking member 5, locking member 7, parallelogram 6, vertically adjustment member 8, horizontal adjusting part 9, handle 11, counterweight 12 and air-balance part 13 down, on guide rail 1, connect hanger bracket 3 by bearings mounted nylon wheel contact, hanger bracket is pressed on the guide rail by contact roller 2, hanger bracket 3 is moved in guide rail 1 flexibly, can resist big reaction force again.The hanger bracket bottom is equipped with locking member 5 and last turning cylinder 4 by bolt, can make pneumatic antitorque power-assisted manipulator rotate to the interior any angle of its radius of clean-up.The described locking member 5 of going up adopts polyurethane is embedded structure in the metal, produces the frictional force of super large under hyperbar, both can guarantee that the air assisted manipulator rested on the optional position, can resist big reaction force again.Parallelogram 6 places below the hanger bracket, is connected with last turning cylinder 4 by bolt, has used the opposite side characteristic all the time of parallelogram sturcutre uniqueness, can guarantee the attitude of working head all the time.Preceding bar 6-1 at parallelogram is equipped with turning cylinder 14 and following locking member 7 down below by bolt, by last turning cylinder and following turning cylinder, can make the air assisted manipulator arrive the interior any point of its radius of clean-up, described down locking member 7 adopts polyurethane is embedded structure in the metal, under hyperbar, produce the frictional force of super large, resist big reaction force.Vertically adjustment member 8 is installed in down the bottom of turning cylinder 14 by bolt, vertically the adjustment member lower end is connected with horizontal adjusting part 9, be connected with anchor clamps 10 by bolt on the horizontal adjusting part 9, horizontal adjusting part 9 can be adjusted the height and position of anchor clamps 10, make the air assisted manipulator satisfy the demand that multi-assortment production is produced, anchor clamps 10 adopt movable connection method can satisfy the production demand of different product.The back bar 6-2 of parallelogram goes up by bolt air-balance part 13 is installed, utilize the aerodynamics principle, realize the null-gravity state of object, make the operator need not action button promptly can be very little tractive force (being not more than 20N) effect down, about, all around three dimensions freely-movable.Simultaneously the working head of manipulator front end can across obstacle, and device for screwing up is sent into machine intimate, carries out work.Handle 11 is installed on the horizontal adjusting part 9.Counterweight 12 is installed in the upper boom 6-3 back of parallelogram, plays the effect of balancing equipment self gravitation.
Operation principle of the present utility model is:
When using this air assisted manipulator, must earlier tightening device (as electric tightening wrench, pneumatic tightening machine etc.) be installed on the anchor clamps 10, catch handle 11 that manipulator is moved to the operating position then, tightening device is aimed at the bolt that need tighten, start tightening device and get final product.Because of pneumatic antitorque power-assisted manipulator has upper and lower locking member and between hanger bracket and guide rail contact roller is installed, manipulator becomes an organic whole when tightening.Reaction force when contact roller is tightened is applied on upper and lower locking member and the contact roller fully, is absorbed fully by antitorque manipulator.Work such as the operator only need assist aligns, startup, and do not need to bear any reaction torque.
Claims (3)
1. pneumatic antitorque power-assisted manipulator, it is characterized in that: comprise hanger bracket and guide rail, on guide rail, connect hanger bracket by bearings mounted nylon wheel contact, hanger bracket is pressed on the guide rail by contact roller, the hanger bracket bottom is equipped with locking member and last turning cylinder, the last turning cylinder that is positioned at the hanger bracket below is connected with parallelogram, turning cylinder and following locking member are housed down below the preceding bar of parallelogram, vertical adjustment member is equipped with in following turning cylinder bottom, vertically the adjustment member lower end is connected with the horizontal adjusting part, on the horizontal adjusting part, anchor clamps and handle are installed, be fixed with the air-balance part on the back bar of parallelogram, counterweight also is equipped with in upper boom one end of parallelogram.
2. pneumatic antitorque power-assisted manipulator according to claim 1 is characterized in that: the described locking member of going up is setting-in polyurethane structural in the metal material with following locking member.
3. pneumatic antitorque power-assisted manipulator according to claim 1 is characterized in that: described anchor clamps and horizontal adjusting partly are movable assembly structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200970003U CN201073767Y (en) | 2007-08-07 | 2007-08-07 | Pneumatic anti-torsion power-assisted manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200970003U CN201073767Y (en) | 2007-08-07 | 2007-08-07 | Pneumatic anti-torsion power-assisted manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201073767Y true CN201073767Y (en) | 2008-06-18 |
Family
ID=39519030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200970003U Expired - Lifetime CN201073767Y (en) | 2007-08-07 | 2007-08-07 | Pneumatic anti-torsion power-assisted manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201073767Y (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104889612A (en) * | 2015-05-13 | 2015-09-09 | 王丽 | Pressing tool of pneumatic spot welding machine |
| CN106584428A (en) * | 2015-10-19 | 2017-04-26 | 通用汽车环球科技运作有限责任公司 | Articulated mechanism for linear compliance |
| CN106625552A (en) * | 2015-09-21 | 2017-05-10 | 通用汽车环球科技运作有限责任公司 | Large-displacement assist device for performing assembly tasks |
| CN108000884A (en) * | 2017-12-31 | 2018-05-08 | 余姚市亿荣自动化科技有限公司 | Intelligent robot assemble welding automatic production line moulds of industrial equipment servo grasping mechanism |
| US10759634B2 (en) | 2014-08-08 | 2020-09-01 | GM Global Technology Operations LLC | Electromechanical system for interaction with an operator |
-
2007
- 2007-08-07 CN CNU2007200970003U patent/CN201073767Y/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10759634B2 (en) | 2014-08-08 | 2020-09-01 | GM Global Technology Operations LLC | Electromechanical system for interaction with an operator |
| CN104889612A (en) * | 2015-05-13 | 2015-09-09 | 王丽 | Pressing tool of pneumatic spot welding machine |
| CN106625552A (en) * | 2015-09-21 | 2017-05-10 | 通用汽车环球科技运作有限责任公司 | Large-displacement assist device for performing assembly tasks |
| CN106625552B (en) * | 2015-09-21 | 2019-05-28 | 通用汽车环球科技运作有限责任公司 | For executing the big displacement auxiliary device of assembling task |
| US10350766B2 (en) | 2015-09-21 | 2019-07-16 | GM Global Technology Operations LLC | Extended-reach assist device for performing assembly tasks |
| CN106584428A (en) * | 2015-10-19 | 2017-04-26 | 通用汽车环球科技运作有限责任公司 | Articulated mechanism for linear compliance |
| CN106584428B (en) * | 2015-10-19 | 2019-11-01 | 通用汽车环球科技运作有限责任公司 | Radial type mechanism for flexible linear |
| US10626963B2 (en) | 2015-10-19 | 2020-04-21 | GM Global Technology Operations LLC | Articulated mechanism for linear compliance |
| CN108000884A (en) * | 2017-12-31 | 2018-05-08 | 余姚市亿荣自动化科技有限公司 | Intelligent robot assemble welding automatic production line moulds of industrial equipment servo grasping mechanism |
| CN108000884B (en) * | 2017-12-31 | 2023-10-24 | 宁波亿荣自动化科技有限公司 | Intelligent robot welding assembly automation line frock mould servo grabbing mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP02 | Change in the address of a patent holder |
Address after: 301508 HNA West Road, Ninghe modern industrial zone, Tianjin Patentee after: Tianjin AD. Automation Technology Co., Ltd. Address before: 300300 No. three, No. 1, Jing Lu, Dongli District, Tianjin Patentee before: Tianjin AD. Automation Technology Co., Ltd. |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20080618 |