CN201711970U - Pressure control power assisting manipulator - Google Patents
Pressure control power assisting manipulator Download PDFInfo
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- CN201711970U CN201711970U CN201020223160XU CN201020223160U CN201711970U CN 201711970 U CN201711970 U CN 201711970U CN 201020223160X U CN201020223160X U CN 201020223160XU CN 201020223160 U CN201020223160 U CN 201020223160U CN 201711970 U CN201711970 U CN 201711970U
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Abstract
A pressure control power assisting manipulator belongs to manipulators in mechanical and handling industry. The manipulator is designed by combining electric control, pressure control and mechanical principle, uses electric technology to control a pressure control valve to realize rapid workpiece grabbing, transmitting, loading and unloading, and uses turning on and turning off of an electric button switch to realize grabbing, clamping and discharging operation. Furthermore, the manipulator can maintain balance of pressure outputted by a gas cylinder, reduces pressure impact force and rebounding, improves performance, safety and reliability of a machine, can realize movement operation with an arranged movement device, is adaptable to requirements of grabbing and clamping workpieces in different shapes, with different weights and made of different materials, has wide universality, and improves work efficiency.
Description
Technical field
The utility model relates to machinery and controls the power-assisted manipulator with a kind of manipulator, particularly air pressure of carrying industry.
Background technology
Along with China's industry develops fast, in industrial production, people often will work under high temperature, corrosion and toxic gas etc. have the environment of harmful substances, have increased working strength of workers, injure workman's life security.Manipulator can part the replacement manually-operated, realize mechanization and automation mechanized operation, be widely used.It follows transmission and the loading and unloading of finishing workpiece in certain procedure, time and position according to the requirement of production technology, has improved workman's working condition, is task executing agency traditional among the industrial robot system.Manipulator is one of critical component of robot, can raise labour productivity significantly.At present: manipulator mainly is made up of hand and motion.Hand is the parts that are used for grasping workpiece, according to the difference of the shape that is grasped object, size, weight, material, is provided with the hand of multiple version, and the hand of general special manipulator has only a joint joint, is difficult to the polytype object of clamping.Motion can make hand finish various rotations, move or compound motion, changes the position and the posture that are grasped workpiece, reaches the requirement of regulation.The mode of the lifting of motion, flexible, rotation is called the free degree of manipulator.The free degree is many more, and its structure is also complicated more, and manufacture difficulty is just big more.General motion has only 2-3 the free degree, is difficult to reach desirable grabbing and takes effect.Meanwhile, manipulator is when operation, and common lifting appliance exists certain impulsive force and bounce when operation, bigger to the workpiece infringement.So: at home in the same industry, R﹠D institution and science and technology in enterprise personnel at the control program of constantly studying, explore, improve manipulator to reach ideal effect, though obtain some progress technically, but in practice, still exist the technical problem that does not overcome as yet, wish to work out easy to operate, the manipulator practical, that security performance is good can be enhanced productivity effectively.
Summary of the invention
The purpose of this utility model is to overcome above deficiency, a kind of air pressure control power-assisted manipulator is provided, employing electrical control, air pressure are controlled and theory of mechanics is designed in conjunction forms, utilize electrical technology control pneumatic control valve, make manipulator realize grabbing folder workpiece and transmission and loading and unloading, utilize electric press button, Push And Release realizes that manipulator's the folder of grabbing moves with discharging.And can keep the air pressure of cylinder output to reach balance, and reduced air pressure impulsive force and bounce-back, improve the performance and the security reliability of machine, and movable operation, easy to operate, safety has alleviated working strength of workers, uses manpower and material resources sparingly, and increases work efficiency.
The technical scheme that its technical problem that solves the utility model adopts is: contain interior plate, big side plate, telescopic cylinder, pull bar, universal wheel, travelling car, column, bearing block, tracheae, the swing principal arm, the swing auxiliary, the rotary arm shaft bearing, the rotation principal arm, the plumbing arm bearing block, handrail, the manipulator main shaft, electric control box, rotary cylinder, clamp cylinder, jaw, workpiece, travelling car is an OBL chassis, on four jiaos of chassis, respectively be provided with a universal wheel, center on the chassis is provided with column, the left side is provided with pull bar, the column top is provided with bearing block, rotatable 360 °, the top of column is connected with the lower end on big side plate right side, be provided with pneumatic control valve in the big side plate, pneumatic control valve is connected with telescopic cylinder, telescopic cylinder is arranged on the lower end in big side plate left side, the guide rod of telescopic cylinder is connected with guide pin bushing on the interior plate lower end, be provided with interior plate in the big side plate, big side plate left side is provided with rectangular mounting hole slip axial trough, be provided with two sliding axles in the axial trough, divide one on the other, two sliding axles are connected with interior plate, be provided with a swing principal arm axle at two sliding axle partial centers of interior plate, two axles are established on the right side on big side plate, last axle is connected with the top of swing auxiliary, lower shaft is connected with the swing principal arm, the swing principal arm all is connected with the rotary arm shaft bearing with the other end of swing auxiliary, the rotary arm shaft bearing is connected with the main shaft on rotation principal arm top, rotatable 360 °, the rotation principal arm is connected with the plumbing arm bearing block, but 360 ° of plumbing arm bearing block plumbing arm rotations, the plumbing arm bearing block is connected with the manipulator main shaft, the manipulator main shaft is provided with handrail, inboard, handrail lower end is provided with electric control box, be provided with press button above the electric control box, the electric wiring of electric control box and pneumatic control valve, rotary cylinder, clamping the cylinder circuit is connected, the manipulator main shaft other end is provided with rotary cylinder, rotary cylinder is connected with pneumatic control valve by tracheae, be provided with two pipelines in the tracheae, an air inlet pipe, a muffler, the main shaft of rotary cylinder is connected with the clamping cylinder by the axis hole on manipulator main shaft top, clamping cylinder is connected with jaw, jaw can about each half-twist, jaw is two joint joints, accompany workpiece in the jaw, constituted air pressure control power-assisted manipulator.
The know-why of this air pressure control power-assisted manipulator is: this manipulator employing is electric and air pressure is controlled and theory of mechanics is designed in conjunction forms, and utilizes electrical technology control pneumatic control valve, makes manipulator realize grabbing folder workpiece and transmission and loading and unloading.Utilize electric press button, Push And Release realizes that manipulator's the folder of grabbing moves with discharging.Improve the performance and the security reliability of machine, reduce labor strength.Travelling car is provided with pull bar, and the below is provided with universal wheel, and pull bar pulling travelling car can realize that the position of this equipment is moved.Travelling car is provided with column, the column top is provided with bearing block, be used for realizing rotatablely moving of manipulator, can operate the workpiece in 360 ° of scopes on every side, the top of column is connected with the lower end on big side plate right side, is provided with pneumatic control valve in the big side plate, adopt electrical control pneumatic control valve, telescopic cylinder, rotary cylinder, clamping cylinder, realize the elevating movement of manipulator, the object of differing heights is realized operation, rotate, grab folder, transmission, loading and unloading.Pneumatic control valve is connected with telescopic cylinder, telescopic cylinder is arranged on the lower end in big side plate left side, be provided with interior plate in the big side plate, two slide down moving axis that the interior plate left side is provided with can move up and down in rectangular mounting hole slip axial trough, when manipulator descends, interior plate just rises, the guide rod of telescopic cylinder stretches out the guide pin bushing that withstands on the interior plate, swing principal arm and swing auxiliary is descended synchronously, when manipulator rises, interior plate just descends, and swing principal arm and swing auxiliary are risen synchronously.Telescopic cylinder is provided with an air inlet pipeline, a return line, and the electrical control pneumatic control valve makes the guide rod of telescopic cylinder do stretching motion.Pneumatic control valve has constant voltage output compensation, and it is constant to keep inner pressure of air cylinder, makes manipulator have suspension, keeps the air pressure of cylinder output to reach balance, has reduced air pressure impulsive force and bounce-back.The rotary arm shaft bearing is connected with the main shaft of rotation principal arm, with the main shaft is the center of circle, the driven rotary principal arm is done 360 ° of motions, the bottom of rotation principal arm is provided with the plumbing arm bearing block, and the plumbing arm bearing block is connected with the manipulator main shaft, can make the manipulator main shaft realize 360 ° of rotations of plumbing arm, the manipulator main shaft is provided with handrail, inboard, handrail lower end is provided with electric control box, and the hand-held electric control box of operative employee comes manipulator's operation program, guarantees operating efficiency.The electric wiring of electric control box is connected with pneumatic control valve, telescopic cylinder, rotary cylinder, clamping cylinder circuit.The manipulator main shaft other end is provided with rotary cylinder, and electric control box control rotary cylinder is realized the rotation of jaw in 180 ° of scopes.The main shaft of rotary cylinder is connected with the clamping cylinder by the axis hole on manipulator main shaft top, clamps cylinder and is connected with jaw, clamps cylinder and is controlled by electric control box, is used for controlling unclamping and clamping of jaw.The manipulator jaw adopts a joint joint designs, and the assurance manipulator can be grabbed the workpiece by difformity, material, weight.And can the manipulator jaw of different sizes be housed according to Different Weight, difform part.
The utility model beneficial effect is: this manipulator adopts electrical control, air pressure control and theory of mechanics is designed in conjunction forms, utilize electrical technology control pneumatic control valve, make manipulator realize grabbing fast folder workpiece and transmission and loading and unloading, utilize electric press button, Push And Release realizes that manipulator's the folder of grabbing moves with discharging.And can keep the air pressure of cylinder output to reach balance, and reduced air pressure impulsive force and bounce-back, improve the performance and the security reliability of machine.And be provided with mobile device, can realize mobile operating.Unique jaw design adapts to the demand of grabbing folder difformity, material, heavy workpiece.Versatility is wide, increases work efficiency.
Description of drawings
Be in conjunction with the accompanying drawings and embodiments the utility model to be further described below:
It among the figure air pressure control power-assisted robot manipulator structure schematic diagram
In the drawings: 1. interior plate, 2. big side plate, 3. telescopic cylinder, 4. pull bar, 5. universal wheel, 6. travelling car, 7. column, 8. bearing block, 9. tracheae, 10. swing principal arm, 11. swing auxiliarys, 12. rotary arm shaft bearings, 13. rotation principal arms, 14. plumbing arm bearing blocks, 15. handrails, 16. manipulator main shafts, 17. electric control box, 18. rotary cylinders, 19. clamp cylinders, 20. jaws, 21 workpiece
The specific embodiment
In the drawings: travelling car 6 is OBL chassis, on four jiaos of chassis, respectively be provided with a universal wheel 5, be provided with column 7 at the center on chassis, the left side is provided with pull bar 4, column 7 tops are provided with bearing block 8, rotatable 360 °, the top of column 7 is connected with the lower end on big side plate 2 right sides, be provided with pneumatic control valve in the big side plate 2, pneumatic control valve is connected with telescopic cylinder 3, telescopic cylinder 3 is arranged on the lower end in big side plate 2 left sides, the guide rod of telescopic cylinder 3 is connected with guide pin bushing on interior plate 1 lower end, be provided with interior plate 1 in the big side plate 2, big side plate 2 left sides are provided with rectangular mounting hole slip axial trough, be provided with two sliding axles in the axial trough, divide one on the other, two sliding axles are connected with interior plate 1, be provided with a swing principal arm axle at 1 two sliding axle partial centers of interior plate, two axles are established on the right side on big side plate 2, last axle is connected with the top of swing auxiliary 11, lower shaft is connected with swing principal arm 10, swing principal arm 10 all is connected with rotary arm shaft bearing 12 with the other end of swing auxiliary 11, rotary arm shaft bearing 12 is connected with the main shaft on rotation principal arm 13 tops, rotatable 360 °, rotation principal arm 13 is connected with plumbing arm bearing block 14, but 360 ° of plumbing arm bearing block 14 plumbing arms rotations, plumbing arm bearing block 14 is connected with manipulator main shaft 16, manipulator main shaft 16 is provided with handrail 15, inboard, handrail 15 lower end is provided with electric control box 17, be provided with press button above the electric control box 17, the electric wiring of electric control box 17 and pneumatic control valve, rotary cylinder 18, clamping cylinder 19 circuits is connected, manipulator main shaft 16 other ends are provided with rotary cylinder 18, rotary cylinder 18 is connected with pneumatic control valve by tracheae 9, be provided with two pipelines in the tracheae 9, an air inlet pipe, a muffler, the main shaft of rotary cylinder 18 is connected with clamping cylinder 19 by the axis hole on manipulator main shaft 16 tops, clamping cylinder 19 is connected with jaw 20, jaw 20 can about each half-twist, jaw 20 is two joint joints, accompany workpiece 21 in the jaw 20, constituted air pressure control power-assisted manipulator.
This manipulator employing is electric and air pressure is controlled and theory of mechanics is designed in conjunction forms, utilize electrical technology control pneumatic control valve, make manipulator realize grabbing folder workpiece 21 and transmission and loading and unloading, utilize electric press button, Push And Release realizes that manipulator's the folder of grabbing moves with discharging.Improve the performance and the security reliability of machine, reduce labor strength.Travelling car 6 is provided with pull bar 4, and the below is provided with universal wheel 5, and pull bar 4 pulling travelling cars 6 can realize that the position of this equipment is moved.Travelling car 6 is provided with column 7, column 7 tops are provided with bearing block 8, be used for realizing rotatablely moving of manipulator, can operate the workpiece 21 in 360 ° of scopes on every side, the top of column 7 is connected with the lower end on big side plate 2 right sides, is provided with pneumatic control valve in the big side plate 2, adopt electrical control pneumatic control valve, telescopic cylinder 3, rotary cylinder 18, clamp cylinder 19, realize the elevating movement of manipulator, the object of differing heights is realized operation, rotate, grab folder, transmission, loading and unloading.Pneumatic control valve is connected with telescopic cylinder 3, telescopic cylinder 3 is arranged on the lower end in big side plate 2 left sides, be provided with interior plate 1 in the big side plate 2, two slide down moving axis that interior plate 1 left side is provided with can move up and down in rectangular mounting hole slip axial trough, when manipulator descends, interior plate 1 just rises, the guide rod of telescopic cylinder 3 stretches out the guide pin bushing that withstands on the interior plate 1, swing principal arm 10 and swing auxiliary 11 are descended synchronously, when manipulator rises, interior plate 1 just descends, and swing principal arm 10 and swing auxiliary 11 are risen synchronously.Telescopic cylinder 3 is provided with an air inlet pipeline, a return line, and the electrical control pneumatic control valve makes the guide rod of telescopic cylinder 3 do stretching motion.Pneumatic control valve has constant voltage output compensation, and it is constant to keep inner pressure of air cylinder, makes manipulator have suspension, keeps the air pressure of cylinder output to reach balance, has reduced air pressure impulsive force and bounce-back.Rotary arm shaft bearing 12 is connected with the main shaft of rotation principal arm 13, with the main shaft is the center of circle, driven rotary principal arm 13 is done 360 ° of motions, the bottom of rotation principal arm 13 is provided with plumbing arm bearing block 14, and plumbing arm bearing block 14 is connected with manipulator main shaft 16, can make manipulator main shaft 16 realize 360 ° of rotations of plumbing arm, manipulator main shaft 16 is provided with handrail 15, inboard, handrail 15 lower end is provided with electric control box 17, and the hand-held electric control box 17 of operative employee comes manipulator's operation program, guarantees operating efficiency.The electric wiring of electric control box 17 is connected with pneumatic control valve, telescopic cylinder 3, rotary cylinder 18, clamping cylinder 19 circuits.Manipulator main shaft 16 other ends are provided with rotary cylinder 18, and rotary cylinder 18 is connected with pneumatic control valve by tracheae 9, and electric control box 17 control rotary cylinders 18 are realized the rotation of jaw 20 in 180 ° of scopes.The main shaft of rotary cylinder 18 is connected with clamping cylinder 19 by the axis hole on manipulator main shaft 16 tops, clamp cylinder 19 and be connected, clamp cylinder 19, be used for controlling unclamping and clamping of jaw 20 by electric control box 17 controls with jaw 20, during air inlet, air pressure in the cylinder begins to increase, and piston guide rod is done forward and stretched out motion, and jaw 20 begins workpiece 21 is clamped, during return-air, air pressure in the cylinder begins to diminish, and piston guide rod begins to do backward contractile motion, and jaw 20 unclamps the workpiece 21 that clamps.Manipulator jaw 20 adopts a joint joint designs, and the assurance manipulator can be grabbed the workpiece 21 by difformity, material, weight.And can the manipulator jaw 20 of different sizes be housed according to Different Weight, difform part.
Claims (1)
1. air pressure is controlled the power-assisted manipulator, contain interior plate, big side plate, telescopic cylinder, pull bar, universal wheel, travelling car, column, bearing block, tracheae, the swing principal arm, the swing auxiliary, the rotary arm shaft bearing, the rotation principal arm, the plumbing arm bearing block, handrail, the manipulator main shaft, electric control box, rotary cylinder, clamp cylinder, jaw, workpiece, it is characterized in that: travelling car is an OBL chassis, on four jiaos of chassis, respectively be provided with a universal wheel, center on the chassis is provided with column, the left side is provided with pull bar, the column top is provided with bearing block, rotatable 360 °, the top of column is connected with the lower end on big side plate right side, be provided with pneumatic control valve in the big side plate, pneumatic control valve is connected with telescopic cylinder, telescopic cylinder is arranged on the lower end in big side plate left side, the guide rod of telescopic cylinder is connected with guide pin bushing on the interior plate lower end, be provided with interior plate in the big side plate, big side plate left side is provided with rectangular mounting hole slip axial trough, be provided with two sliding axles in the axial trough, divide one on the other, two sliding axles are connected with interior plate, be provided with a swing principal arm axle at two sliding axle partial centers of interior plate, two axles are established on the right side on big side plate, last axle is connected with the top of swing auxiliary, lower shaft is connected with the swing principal arm, the swing principal arm all is connected with the rotary arm shaft bearing with the other end of swing auxiliary, the rotary arm shaft bearing is connected with the main shaft on rotation principal arm top, rotatable 360 °, the rotation principal arm is connected with the plumbing arm bearing block, but 360 ° of plumbing arm bearing block plumbing arm rotations, the plumbing arm bearing block is connected with the manipulator main shaft, the manipulator main shaft is provided with handrail, inboard, handrail lower end is provided with electric control box, be provided with press button above the electric control box, the electric wiring of electric control box and pneumatic control valve, rotary cylinder, clamping the cylinder circuit is connected, the manipulator main shaft other end is provided with rotary cylinder, rotary cylinder is connected with pneumatic control valve by tracheae, be provided with two pipelines in the tracheae, an air inlet pipe, a muffler, the main shaft of rotary cylinder is connected with the clamping cylinder by the axis hole on manipulator main shaft top, clamping cylinder is connected with jaw, jaw can about each half-twist, jaw is two joint joints, accompany workpiece in the jaw, constituted air pressure control power-assisted manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020223160XU CN201711970U (en) | 2010-05-31 | 2010-05-31 | Pressure control power assisting manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020223160XU CN201711970U (en) | 2010-05-31 | 2010-05-31 | Pressure control power assisting manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN201711970U true CN201711970U (en) | 2011-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201020223160XU Expired - Fee Related CN201711970U (en) | 2010-05-31 | 2010-05-31 | Pressure control power assisting manipulator |
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| Country | Link |
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| CN (1) | CN201711970U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103448052A (en) * | 2012-06-04 | 2013-12-18 | 盐城市昱博自动化设备有限公司 | Novel vacuum handling manipulator |
| CN103802098A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Vacuum adsorption type manipulator |
| CN104097672A (en) * | 2014-06-30 | 2014-10-15 | 陈宝 | Machine tool spindle carrying device |
| CN104444344A (en) * | 2013-09-24 | 2015-03-25 | 桐乡市河山工艺玻璃器皿厂 | Bottle standing mechanical arm |
| CN104647339A (en) * | 2015-02-02 | 2015-05-27 | 黄浩 | Mechanical hand |
| CN105346753A (en) * | 2015-10-23 | 2016-02-24 | 双峰格雷斯海姆医药玻璃（丹阳）有限公司 | Automatic bottle-erecting mechanical arm |
| CN105856266A (en) * | 2016-05-16 | 2016-08-17 | 厦门思尔特机器人系统股份公司 | Adaptor and sprinkling robot polishing gripper using same |
| CN106276573A (en) * | 2016-10-08 | 2017-01-04 | 王长坤 | A kind of convenience type boosting manipulator |
| CN107686004A (en) * | 2017-07-31 | 2018-02-13 | 天津市津廊宏业工程机械液压设备有限公司 | A kind of Work transfer apparatus |
-
2010
- 2010-05-31 CN CN201020223160XU patent/CN201711970U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103448052A (en) * | 2012-06-04 | 2013-12-18 | 盐城市昱博自动化设备有限公司 | Novel vacuum handling manipulator |
| CN103802098A (en) * | 2012-11-08 | 2014-05-21 | 沈阳新松机器人自动化股份有限公司 | Vacuum adsorption type manipulator |
| CN103802098B (en) * | 2012-11-08 | 2015-06-10 | 沈阳新松机器人自动化股份有限公司 | Vacuum adsorption type manipulator |
| CN104444344A (en) * | 2013-09-24 | 2015-03-25 | 桐乡市河山工艺玻璃器皿厂 | Bottle standing mechanical arm |
| CN104097672A (en) * | 2014-06-30 | 2014-10-15 | 陈宝 | Machine tool spindle carrying device |
| CN104647339A (en) * | 2015-02-02 | 2015-05-27 | 黄浩 | Mechanical hand |
| CN105346753A (en) * | 2015-10-23 | 2016-02-24 | 双峰格雷斯海姆医药玻璃（丹阳）有限公司 | Automatic bottle-erecting mechanical arm |
| CN105856266A (en) * | 2016-05-16 | 2016-08-17 | 厦门思尔特机器人系统股份公司 | Adaptor and sprinkling robot polishing gripper using same |
| CN106276573A (en) * | 2016-10-08 | 2017-01-04 | 王长坤 | A kind of convenience type boosting manipulator |
| CN107686004A (en) * | 2017-07-31 | 2018-02-13 | 天津市津廊宏业工程机械液压设备有限公司 | A kind of Work transfer apparatus |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110119 Termination date: 20140531 |