CN202144069U - Four degree-of-freedom pneumatic mechanical arm - Google Patents
Four degree-of-freedom pneumatic mechanical arm Download PDFInfo
- Publication number
- CN202144069U CN202144069U CN201120213243U CN201120213243U CN202144069U CN 202144069 U CN202144069 U CN 202144069U CN 201120213243 U CN201120213243 U CN 201120213243U CN 201120213243 U CN201120213243 U CN 201120213243U CN 202144069 U CN202144069 U CN 202144069U
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- cylinder
- guide rod
- vertical
- paw
- move horizontally
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- 238000010009 beating Methods 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 abstract description 9
- 239000002184 metal Substances 0.000 abstract 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
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Abstract
The utility model discloses a four degree-of-freedom pneumatic mechanical arm which can achieve different types of motions and is advantageous in having a simple structure and being convenient to operate. The four degree-of-freedom pneumatic mechanical arm structurally comprises a metal plate base, a horizontally moving cylinder, a horizontally moving slider, a horizontally moving guide rod, a vertically moving cylinder, a vertically moving slider, a vertically moving guide rod, an integrally rotating cylinder, a bearing cover, a horizontal tray, a vertical tray and a rotating shaft, wherein the integrally rotating cylinder is fixed below the metal plate base, the rotating shaft is fixed by the bearing cover, the rotating shaft is connected with the vertically moving cylinder through the horizontal tray, the vertically moving guide rod is fixed on the horizontal tray, the vertically moving slider is arranged on the vertically moving guide rod, the vertically moving slider is connected with the horizontally moving slider, the horizontally moving slider is arranged on the horizontally moving guide rod, the horizontally moving guide rod is fixed on the vertical tray, and the vertical tray is connected with the horizontally moving cylinder.
Description
Technical field
The present invention relates to a kind of four-degree-of-freedom Pneumatic manipulator, be specifically related to the four-degree-of-freedom Pneumatic manipulator that five cylinders of a kind of application and subsidiary body thereof have accomplished a series of actions.
Background technology
Social now, the application of manipulator is more and more wider, and along with the development of industrial automation, Pneumatic manipulator also is widely used in industry now, also becomes the popular course of many colleges and universities for pneumatic study and research.But on the present market, the especially multivariant Pneumatic manipulator of the Pneumatic manipulator that is applied to impart knowledge to students seldom and costs an arm and a leg.
Summary of the invention
To above-mentioned deficiency, the invention provides a kind of simple in structure, easy to operate, the four-degree-of-freedom Pneumatic manipulator that can realize multiple forms of motion.
The present invention realizes through following technical scheme:
A kind of four-degree-of-freedom Pneumatic manipulator, by the panel beating base, move horizontally cylinder, move horizontally slide block, move horizontally guide rod, vertical lift cylinder, vertical lift slide block, vertical lift guide rod, whole rotary cylinder, paw rotary cylinder, paw folding cylinder, paw, bearing cap, level tray, vertical tray, rotating shaft form, wherein; Whole rotary cylinder is fixed on below the panel beating base; Rotating shaft is fixed by bearing cap, and rotating shaft is connected with the vertical lift cylinder through level tray, also is fixed with the vertical lift guide rod on the level tray; The vertical lift slide block is housed on the vertical lift guide rod; The vertical lift slide block with move horizontally slide block and be connected, move horizontally slide block and be contained in and move horizontally on the guide rod, move horizontally guide rod and be fixed on the vertical tray; Vertical tray with move horizontally cylinder and be connected; Vertical tray is connected with the paw rotary cylinder, and the paw rotary cylinder is connected with paw folding cylinder, and paw folding cylinder is connected with paw.
The said guide rod that moves horizontally has two, and with move horizontally cylinder and be arranged in parallel.
Said vertical moving leader has two, and is arranged in parallel with the vertical cylinder that moves.
During concrete the application; Whole rotary cylinder drives the above integral body of level tray along counterclockwise rotation; The vertical lift cylinder makes along the elevating movement in vertical direction of vertical lift guide rod; Move horizontally cylinder and can realize that the paw rotary cylinder can be realized the rotation of paw along moving horizontally guide rod stretching motion in the horizontal direction, paw folding cylinder can be realized the folding of paw.Through above control, realized the motion of four frees degree of manipulator.
The invention has the beneficial effects as follows: simple in structure, easy to operate, can realize multiple forms of motion, cost is lower, is fit to colleges and universities and popularizes teaching usefulness.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the right view of Fig. 1.
Among the figure, 1, the panel beating base; 2, move horizontally guide rod; 3, move horizontally cylinder; 4, vertical lift slide block; 5, vertical lift cylinder; 6, vertical lift guide rod; 7, paw; 8, paw rotary cylinder; 9, move horizontally slide block; 10, paw folding cylinder; 11, whole rotary cylinder; 12, bearing cap; 13, level tray; 14, vertical tray; 15, rotating shaft.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is further described.
A kind of four-degree-of-freedom Pneumatic manipulator; Mainly by panel beating base 1, move horizontally cylinder 3, move horizontally slide block 9, move horizontally guide rod 2, vertical lift cylinder 5, vertical lift slide block 4, vertical lift guide rod 6, whole rotary cylinder 11, paw rotary cylinder 8, paw folding cylinder 10, paw 7, bearing cap 12, level tray 13, vertical tray 14, rotating shaft 15 form, like Fig. 1, shown in Figure 2, wherein; Whole rotary cylinder 11 is fixed on below the panel beating base 1; Rotating shaft 15 is fixing by bearing cap 12, and rotating shaft 15 is connected with vertical lift cylinder 5 through level tray 13, also is fixed with vertical lift guide rod 6 on the level tray 13; Vertical lift slide block 4 is housed on the vertical lift guide rod 6; Vertical lift slide block 4 with move horizontally slide block 9 and be connected, move horizontally slide block 9 and be contained in and move horizontally on the guide rod 2, move horizontally guide rod 2 and be fixed on the vertical tray 14; Vertical tray 14 with move horizontally cylinder 3 and be connected; Vertical tray 14 is connected with paw rotary cylinder 8, and paw rotary cylinder 8 is connected with paw folding cylinder 10, and paw folding cylinder 10 is connected with paw 7.
When using; Whole rotary cylinder 11 drives the integral body of level tray more than 13 along counterclockwise rotation; Vertical lift cylinder 5 makes along vertical lift guide rod 6 elevating movement in vertical direction; Move horizontally cylinder 3 and can realize that paw rotary cylinder 8 can be realized the rotation of paw 7 along moving horizontally guide rod 2 stretching motion in the horizontal direction, paw folding cylinder 10 can be realized the folding of paw 7.Through above control, realized the motion of four frees degree of manipulator.
Claims (3)
1. four-degree-of-freedom Pneumatic manipulator is characterized in that: by the panel beating base, move horizontally cylinder, move horizontally slide block, move horizontally guide rod, vertical lift cylinder, vertical lift slide block, vertical lift guide rod, whole rotary cylinder, paw rotary cylinder, paw folding cylinder, paw, bearing cap, level tray, vertical tray and rotating shaft form, wherein; Whole rotary cylinder is fixed on below the panel beating base; Rotating shaft is fixed by bearing cap, and rotating shaft is connected with the vertical lift cylinder through level tray, also is fixed with the vertical lift guide rod on the level tray; The vertical lift slide block is housed on the vertical lift guide rod; The vertical lift slide block with move horizontally slide block and be connected, move horizontally slide block and be contained in and move horizontally on the guide rod, move horizontally guide rod and be fixed on the vertical tray; Vertical tray with move horizontally cylinder and be connected; Vertical tray is connected with the paw rotary cylinder, and the paw rotary cylinder is connected with paw folding cylinder, and paw folding cylinder is connected with paw.
2. a kind of four-degree-of-freedom manipulator according to claim 1 is characterized in that: the said guide rod that moves horizontally has two, and with move horizontally cylinder and be arranged in parallel.
3. a kind of four-degree-of-freedom manipulator according to claim 1 is characterized in that: said vertical moving leader has two, and is arranged in parallel with the vertical cylinder that moves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120213243U CN202144069U (en) | 2011-06-22 | 2011-06-22 | Four degree-of-freedom pneumatic mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120213243U CN202144069U (en) | 2011-06-22 | 2011-06-22 | Four degree-of-freedom pneumatic mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202144069U true CN202144069U (en) | 2012-02-15 |
Family
ID=45580004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120213243U Expired - Fee Related CN202144069U (en) | 2011-06-22 | 2011-06-22 | Four degree-of-freedom pneumatic mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202144069U (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102229143A (en) * | 2011-06-22 | 2011-11-02 | 于复生 | Four-degree-of-freedom pneumatic manipulator |
| CN103273484A (en) * | 2013-05-13 | 2013-09-04 | 沈阳工业大学 | Plasma arc metal surface reinforced robot |
| CN103737037A (en) * | 2014-01-24 | 2014-04-23 | 台州双正机床有限公司 | Feeding device of automatic machine tool |
| CN104012427A (en) * | 2014-06-30 | 2014-09-03 | 王帅 | Automatic egg picking-up and casing device |
| CN104226538A (en) * | 2014-09-24 | 2014-12-24 | 烟台拓伟机械有限公司 | Automatic bearing race rust preventing workstation |
| CN104981335A (en) * | 2012-10-15 | 2015-10-14 | 马斯特模具（2007）有限公司 | Injection unit positioning apparatus |
| CN104505249B (en) * | 2014-12-03 | 2016-09-21 | 珠海市科瑞思机械科技有限公司 | NG automatic material-fetching mechanical hand |
| CN107032097A (en) * | 2017-04-13 | 2017-08-11 | 安徽江淮汽车集团股份有限公司 | Overturn frock assembly |
| CN107627140A (en) * | 2017-11-13 | 2018-01-26 | 曹向虎 | The loading and unloading method and loading and unloading manipulator of a kind of Digit Control Machine Tool |
| CN107799361A (en) * | 2017-08-14 | 2018-03-13 | 深圳市艾贝特电子科技有限公司 | Insure pipe sleeve tumbler and method |
| CN108942913A (en) * | 2018-09-10 | 2018-12-07 | 长春工业大学 | A kind of pneumatic actuation industrial robot structure |
| CN110421590A (en) * | 2019-08-22 | 2019-11-08 | 大连交通大学 | Manipulator grasping mechanism |
| CN110666489A (en) * | 2019-10-16 | 2020-01-10 | 杭州高品自动化设备有限公司 | Pin preloading structure used in positioning pin assembly mechanism and its working method |
| US10675799B2 (en) | 2015-11-06 | 2020-06-09 | Mold-Masters (2007) Limited | Injection unit positioning apparatus |
-
2011
- 2011-06-22 CN CN201120213243U patent/CN202144069U/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102229143A (en) * | 2011-06-22 | 2011-11-02 | 于复生 | Four-degree-of-freedom pneumatic manipulator |
| CN104981335B (en) * | 2012-10-15 | 2016-12-28 | 马斯特模具（2007）有限公司 | Injection unit positioning device |
| CN104981335A (en) * | 2012-10-15 | 2015-10-14 | 马斯特模具（2007）有限公司 | Injection unit positioning apparatus |
| CN103273484A (en) * | 2013-05-13 | 2013-09-04 | 沈阳工业大学 | Plasma arc metal surface reinforced robot |
| CN103273484B (en) * | 2013-05-13 | 2015-08-12 | 沈阳工业大学 | A kind of metal surface enhanced robot of plasma arc |
| CN103737037A (en) * | 2014-01-24 | 2014-04-23 | 台州双正机床有限公司 | Feeding device of automatic machine tool |
| CN104012427A (en) * | 2014-06-30 | 2014-09-03 | 王帅 | Automatic egg picking-up and casing device |
| CN104226538A (en) * | 2014-09-24 | 2014-12-24 | 烟台拓伟机械有限公司 | Automatic bearing race rust preventing workstation |
| CN104226538B (en) * | 2014-09-24 | 2015-07-08 | 烟台拓伟机械有限公司 | Automatic bearing race rust preventing workstation |
| CN104505249B (en) * | 2014-12-03 | 2016-09-21 | 珠海市科瑞思机械科技有限公司 | NG automatic material-fetching mechanical hand |
| US10675799B2 (en) | 2015-11-06 | 2020-06-09 | Mold-Masters (2007) Limited | Injection unit positioning apparatus |
| US11534947B2 (en) | 2015-11-06 | 2022-12-27 | Mold-Masters (2007) Limited | Injection unit positioning apparatus |
| CN107032097A (en) * | 2017-04-13 | 2017-08-11 | 安徽江淮汽车集团股份有限公司 | Overturn frock assembly |
| CN107799361A (en) * | 2017-08-14 | 2018-03-13 | 深圳市艾贝特电子科技有限公司 | Insure pipe sleeve tumbler and method |
| CN107627140A (en) * | 2017-11-13 | 2018-01-26 | 曹向虎 | The loading and unloading method and loading and unloading manipulator of a kind of Digit Control Machine Tool |
| CN108942913A (en) * | 2018-09-10 | 2018-12-07 | 长春工业大学 | A kind of pneumatic actuation industrial robot structure |
| CN110421590A (en) * | 2019-08-22 | 2019-11-08 | 大连交通大学 | Manipulator grasping mechanism |
| CN110666489A (en) * | 2019-10-16 | 2020-01-10 | 杭州高品自动化设备有限公司 | Pin preloading structure used in positioning pin assembly mechanism and its working method |
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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: 20120215 Termination date: 20120622 |