CN202147277U - Pneumatic self-balancing type manipulator - Google Patents
Pneumatic self-balancing type manipulator Download PDFInfo
- Publication number
- CN202147277U CN202147277U CN201120262123U CN201120262123U CN202147277U CN 202147277 U CN202147277 U CN 202147277U CN 201120262123 U CN201120262123 U CN 201120262123U CN 201120262123 U CN201120262123 U CN 201120262123U CN 202147277 U CN202147277 U CN 202147277U
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- arm
- cylinder
- pressure sensor
- rod
- type manipulator
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Abstract
The utility model discloses a pneumatic self-balancing type manipulator, which comprises a base, an upright column, a rotating barrel, a cylinder, a main arm, an auxiliary arm, a lifting rod, a counterweight, a handgrip and a control box. The upright column is fixed onto the base and provided with an air storage cavity, the rotating barrel is arranged at the upper end of the upright column, the cylinder is movably connected to the lower portion of the rotating barrel, and the main arm, the auxiliary arm, the lifting rod, the counterweight, the handgrip and the control box are connected with each other. The pneumatic self-balancing type manipulator is characterized in that a horizontal rotating arm is fixed onto a connecting frame at outer ends of the main arm and the auxiliary arm by a rotating joint, an 'N'-shaped lever is fixed onto the horizontal rotating arm by a support shaft, a pressure sensor is disposed at the inner end of the 'N'-shaped lever, the lifting rod is connected to the outer end of the 'N'-shaped lever by a balance shaft and a connecting plate on the balance shaft, a handheld operating pipe is sleeved on the lifting rod, and a side wall of the upper end of the handheld operating pipe is connected with the end of the horizontal rotating arm by symmetric connecting rods. The pneumatic self-balancing type manipulator can operate close to a load by the aid of a handheld operating rod, the lifting rod can be drawn to an optional position and stopped at the optional position, and accordingly the pneumatic self-balancing type manipulator is more convenient and safer in use.
Description
Technical field
The utility model relates to the improvement of manipulator, and specifically pneumatic self-balancing type manipulator is applicable on carrying and the lathe of object and unloads workpiece, piling.
Background technology
In mechanical manufacturing field, for unloading workpiece, piling on the carrying of weight and the lathe, adopt driving, manipulator to accomplish usually, the title balance crane that manipulator also has can alleviate working strength of workers like this, increases work efficiency.Present employed manipulator comprises that base, column, rotating cylinder, cylinder, principal arm, auxiliary, prypole, balancing weight, handgrip and control cabinet constitute, and what column was vertical is fixed on the base; Rotating cylinder is located at the upper end of column; Connecting principal arm through turning cylinder on the support bar of rotating cylinder upper end, the rear end of principal arm is provided with balancing weight, and the front end of principal arm connects through bearing pin goes up prypole; Connect handgrip in the lower end of prypole; Upside at principal arm is fixed auxiliary through the bearing pin at two ends, and the link at principal arm and auxiliary and two ends thereof constitutes four-bar linkage structure, and control cabinet is fixed on the rotating cylinder; The seat end of cylinder is movably connected in the bottom of rotating cylinder, and the piston rod end of cylinder is fixed on the middle part of principal arm through slip cap; With world's famous brand U.S. Ingersoll-rand Pneumatic manipulator is example, and employed control cabinet has two, and one is installed on the column, and another is installed on the handgrip control handwheel.During use, operate, can carry out the extracting of object or put down through the control button on the control cabinet; When the piston rod that makes cylinder is flexible, the front end liftable of principal arm, drive load is gone up and down.The deficiency of this manipulator is: because lifting is to control through the control button on the control cabinet, but also must so control and operation are all inconvenient, also can cause unsafe factor sometimes through the control cabinet of two separation, and complex structure.
Summary of the invention
The purpose of the utility model is to provide and can overcomes deficiency of the prior art; Near load operation; Operate no longer through the operation of the control button on the control cabinet, and through the hand-held control lead that is enclosed within on the prypole, where hand-held control lead is pulled in; Can where hover, safe in utilization, and pneumatic self-balancing type manipulator simple in structure.
For reaching above purpose, the technical scheme that the utility model adopted is: this pneumatic self-balancing type manipulator comprises that base, column, rotating cylinder, cylinder, principal arm, auxiliary, prypole, balancing weight, handgrip and control cabinet constitute; What column was vertical is fixed on the base; Rotating cylinder is located at the upper end of column, is connecting principal arm through turning cylinder on the support bar of rotating cylinder upper end, and the rear end of principal arm is provided with balancing weight; Connect handgrip in the lower end of prypole; Upside at principal arm is fixed auxiliary through the bearing pin at two ends, and the link at principal arm and auxiliary and two ends thereof constitutes four-bar linkage structure, and control cabinet is fixed on the rotating cylinder; The seat end of cylinder is movably connected in the bottom of rotating cylinder; The piston rod end of cylinder is fixed on the middle part of principal arm through slip cap, it is characterized in that: horizontally rotating arm through rotating joint on fixing on the link of principal arm and auxiliary outer end, horizontally rotate on the arm through lever shaft fixing on " N " shape lever; The inner at " N " shape lever is provided with pressure sensor, is connected prypole through balance staff with connecting plate on the balance staff in the outer end of " N " shape lever; Sheathed hand-held control lead on prypole, the upper end sidewall of hand-held control lead is connected with the end that horizontally rotates arm through symmetrical connecting rod.
The utility model is also implemented through following measure: the tracheae of described pressure sensor is connected with control cabinet; The pressure at pressure sensor application point place multiply by to the moment of lever shaft and equals the moment that balance staff to lever shaft is multiply by in load; Thereby make load be in a kind of suspended state; Pressure sensor is fixed on the diapire that horizontally rotates arm, is provided with housing in the outside of pressure sensor, and the flexible bar of exerting pressure of pressure sensor touches the inner upper wall of " N " shape lever.
Fix gripping apparatus zeroing spring in the outer end that horizontally rotates arm; The housing of gripping apparatus zeroing spring is fixed on the outer end that horizontally rotates arm, and gripping apparatus zeroing spring housing is on adjusting screw(rod), and the upper surface of " N " shape lever is touched in the lower end of adjusting screw(rod); Establish the adjusting nut in the upper end of adjusting screw(rod); The axis of adjusting screw(rod) and the axis of prypole point-blank, through the adjustment of adjusting screw(rod), the weight that makes handgrip act on " N " shape lever is zero.
Described column is a body, and inner chamber is an air storing cavity, on the sidewall of the lower end of column, is provided with suction nozzle, and suction nozzle is connected with air pump through appendix.
The structure and the opening and closing thereof of described handgrip are controlled to be prior art, so no longer stating more.
The beneficial effect of the utility model is: compare with the manipulator of present use, owing to adopted pneumatic autobalance, its control cabinet is only established one, has saved the control cabinet on the handgrip; And gas receiver is located in the column, and it is operating as hand-held operating lever operation, so near load operation; No longer through the operation of the control button on the control cabinet, and where prypole be pulled in, and can where hover; Use convenient, handling safety, and simple in structure.
Description of drawings
Fig. 1 cuts open sketch map for the structure side-looking office of the utility model.
Fig. 2 analyses and observe enlarged diagram for the pressure sensor assembly structure office of the utility model.
Among the figure: 1, base; 2, column; 3, rotating cylinder; 4, cylinder; 5, principal arm; 6, auxiliary; 7, prypole; 8, balancing weight; 9, handgrip; 10, control cabinet; 11, turning cylinder; 12, bearing pin; 13, link; 14, slip cap; 15, rotate joint; 16, horizontally rotate arm; 17, lever shaft; 18, " N " shape lever; 19, pressure sensor; 20, balance staff; 21, connecting plate; 22, hand-held control lead; 23, symmetrical connecting rod; 24, tracheae; 25, gripping apparatus zeroing spring; 26, adjusting screw(rod); 27, regulate nut; 28, housing; 29, effect axle; 30, suction nozzle.
The specific embodiment
Make the utility model with reference to Fig. 1,2.This pneumatic self-balancing type manipulator; Comprise that base 1, column 2, rotating cylinder 3, cylinder 4, principal arm 5, auxiliary 6, prypole 7, balancing weight 8, handgrip 9 and control cabinet 10 constitute, column 2 vertical being fixed on the base 1, rotating cylinder 3 is located at the upper end of column 2; Connecting principal arm 5 through turning cylinder 11 on the support bar of rotating cylinder 3 upper ends; The rear end of principal arm 5 is provided with balancing weight 8, connects handgrip 9 in the lower end of prypole 7, fixes auxiliary 6 at the upside of principal arm 5 through the bearing pin 12 at two ends; The link 13 at principal arm 5 and auxiliary 6 and two ends thereof constitutes four-bar linkage structure; Control cabinet 10 is fixed on the rotating cylinder 3, and the seat end of cylinder 4 is movably connected in the bottom of rotating cylinder 3, and the piston rod end of cylinder 4 is fixed on the middle part of principal arm 5 through slip cap 14; It is characterized in that: horizontally rotating arm 16 through rotating joint 15 on fixing on the link 13 of principal arm 5 and auxiliary 6 outer ends; Horizontally rotate on the arm 16 through lever shaft 17 fixing on " N " shape lever 18, be provided with pressure sensor 19 in the inner of " N " shape lever 18, be connected prypole 7 through balance staff 20 with connecting plate 21 on the balance staff 20 in the outer end of " N " shape lever 18; Sheathed hand-held control lead 22 on prypole 7, the upper end sidewall of hand-held control lead 22 is connected with the end that horizontally rotates arm 16 through symmetrical connecting rod 23, during operation; Hand-held control lead 22, the moving joint 15 that can rotate horizontally rotates, and can make load or handgrip do rotation among a small circle; When carrying on the needs or descend load or handgrip, can on push away or drop-down hand-held control lead 22, need not to touch prypole 7; Because load and pressure sensor 19 are in a kind of poised state, so this manipulation control is very laborsaving.
Further improvement as the utility model: the tracheae 24 of described pressure sensor 19 is connected with control cabinet 10; The pressure at pressure sensor 19 application point places multiply by to the moment of lever shaft 17 and equals the moment that balance staff 20 to lever shaft 17 is multiply by in load; Thereby make load be in a kind of suspended state; Pressure sensor 19 is fixed on the diapire that horizontally rotates arm 16; Be provided with housing 28 in the outside of pressure sensor 19, the flexible bar 29 of exerting pressure of pressure sensor 19 touches the inner upper wall of " N " shape lever 18.
Fix gripping apparatus zeroing spring 25 in the outer end that horizontally rotates arm 16; The housing of gripping apparatus zeroing spring 25 is fixed on the outer end that horizontally rotates arm 16, and gripping apparatus zeroing spring 25 is enclosed within on the adjusting screw(rod) 26, and the upper surface of " N " shape lever 18 is touched in the lower end of adjusting screw(rod) 26; Establish adjusting nut 27 in the upper end of adjusting screw(rod) 26; The axis of the axis of adjusting screw(rod) 26 and prypole 7 point-blank, through the adjustment of adjusting screw(rod) 26, the weight that makes handgrip 9 act on " N " shape lever 18 is zero.
Described column 2 is a body, and inner chamber is an air storing cavity, on the sidewall of the lower end of column 2, is provided with suction nozzle 30, and suction nozzle 30 is connected with air pump through appendix.
The structure and the opening and closing thereof of described handgrip 9 are controlled to be prior art, so no longer stating more.
Claims (4)
1. pneumatic self-balancing type manipulator; Comprise that base (1), column (2), rotating cylinder (3), cylinder (4), principal arm (5), auxiliary (6), prypole (7), balancing weight (8), handgrip (9) and control cabinet (10) constitute; What column (2) was vertical is fixed on the base (1); Rotating cylinder (3) is located at the upper end of column (2); Passing through principal arm (5) in turning cylinder (11) connection on the support bar of rotating cylinder (3) upper end, the rear end of principal arm (5) is provided with balancing weight (8), connects in the lower end of prypole (7) and goes up handgrip (9); Upside at principal arm (5) is fixed upward auxiliary (6) through the bearing pin (12) at two ends; Control cabinet (10) is fixed on the rotating cylinder (3), and the seat end of cylinder (4) is movably connected in the bottom of rotating cylinder (3), and the piston rod end of cylinder (4) is fixed on the middle part of principal arm (5) through slip cap (14); It is characterized in that: horizontally rotate arm (16) last the fixing of the link (13) of principal arm (5) and auxiliary (6) outer end through rotation joint (15); Go up through fixing " N " shape lever (18) of going up of lever shaft (17) horizontally rotating arm (16), be provided with pressure sensor (19), be connected prypole (7) through balance staff (20) with connecting plate (21) on the balance staff (20) in the outer end of " N " shape lever (18) in the inner of " N " shape lever (18); Go up sheathed hand-held control lead (22) at prypole (7), the upper end sidewall of hand-held control lead (22) is connected with the end that horizontally rotates arm (16) through symmetrical connecting rod (23).
2. pneumatic self-balancing type manipulator according to claim 1; The tracheae (24) that it is characterized in that described pressure sensor (19) is connected with control cabinet (10); The pressure at pressure sensor (19) application point place multiply by to the moment of lever shaft (17) and equals the moment that balance staff (20) to lever shaft (17) are multiply by in load; Pressure sensor (19) is fixed on the diapire that horizontally rotates arm (16); Be provided with housing (28) in the outside of pressure sensor (19), the flexible bar of exerting pressure (29) of pressure sensor (19) touches the inner upper wall of " N " shape lever (18).
3. pneumatic self-balancing type manipulator according to claim 1 and 2; It is characterized in that the fixing gripping apparatus zeroing spring (25) of going up in the outer end that horizontally rotates arm (16); The housing of gripping apparatus zeroing spring (25) is fixed on the outer end that horizontally rotates arm (16); Gripping apparatus zeroing spring (25) is enclosed within on the adjusting screw(rod) (26); The upper surface of " N " shape lever (18) is touched in the lower end of adjusting screw(rod) (26), establishes in the upper end of adjusting screw(rod) (26) and regulates nut (27), and the axis of the axis of adjusting screw(rod) (26) and prypole (7) point-blank.
4. pneumatic self-balancing type manipulator according to claim 1 is characterized in that described column (2) is a body, and inner chamber is an air storing cavity, on the lower end sidewall of column (2), is provided with suction nozzle (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120262123U CN202147277U (en) | 2011-07-23 | 2011-07-23 | Pneumatic self-balancing type manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120262123U CN202147277U (en) | 2011-07-23 | 2011-07-23 | Pneumatic self-balancing type manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202147277U true CN202147277U (en) | 2012-02-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120262123U Expired - Lifetime CN202147277U (en) | 2011-07-23 | 2011-07-23 | Pneumatic self-balancing type manipulator |
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|---|---|
| CN (1) | CN202147277U (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102718154A (en) * | 2012-05-29 | 2012-10-10 | 广州欧凯特种陶瓷有限公司 | Sucker hanging bracket for machining glass ceramics |
| CN102717056A (en) * | 2012-06-27 | 2012-10-10 | 浙江福瑞科流控机械有限公司 | Furnace-front mechanical hand |
| CN102717059A (en) * | 2012-07-07 | 2012-10-10 | 盛富春 | Dross salvaging machine with rotary type dross rakes |
| CN102922516A (en) * | 2012-11-23 | 2013-02-13 | 莱芜精瑞模具有限公司 | Pneumatic power assisting industrial robot |
| CN103331753A (en) * | 2013-06-24 | 2013-10-02 | 苏州快吉刀片制造有限公司 | Manipulator in blade production |
| CN103737601A (en) * | 2013-11-27 | 2014-04-23 | 江苏凯特汽车部件有限公司 | CNC lathe machining power assisting device for automobile aluminum alloy wheel larger than 20 inches |
| CN104458235A (en) * | 2014-12-08 | 2015-03-25 | 江南大学 | Mechanical arm for safety valve adjustment |
| CN104440865A (en) * | 2014-11-14 | 2015-03-25 | 江苏苏力机械集团有限公司 | Spring self-balancing assistance mechanical hand |
| CN104476559A (en) * | 2014-10-28 | 2015-04-01 | 芜湖赛德交通设备有限公司 | Robot wrist |
| CN104708623A (en) * | 2015-04-10 | 2015-06-17 | 苏州荣威工贸有限公司 | Robot with adjustable balance moment |
| CN104959998A (en) * | 2015-06-30 | 2015-10-07 | 山东科技大学 | Balancing device allowing big arm supporting force of mechanical arm to be adjusted and parameter optimizing design method thereof |
| CN105058380A (en) * | 2015-08-28 | 2015-11-18 | 天津玛塔德科技有限公司 | Cargo push-ironing and stacking manipulator capable of accurately positioning |
| CN106142079A (en) * | 2016-08-16 | 2016-11-23 | 无锡百禾工业机器人有限公司 | A kind of double handgrip handling machinery arm apparatus |
| CN106272391A (en) * | 2016-08-31 | 2017-01-04 | 江西鑫台铭智能科技有限公司 | The outer layer of a kind of New Type of Robot Arm and this mechanical arm covers the processing technology of material |
| CN107297739A (en) * | 2017-08-21 | 2017-10-27 | 芜湖挺优机电技术有限公司 | A kind of convenient conveying robot rotated |
| CN107813344A (en) * | 2017-11-27 | 2018-03-20 | 常州市新创智能科技有限公司 | A kind of manipulator load balance device |
| CN108705529A (en) * | 2018-08-03 | 2018-10-26 | 苏州夏木自动化科技有限公司 | A kind of Double-station manipulator |
| CN108705528A (en) * | 2018-08-03 | 2018-10-26 | 苏州夏木自动化科技有限公司 | A kind of manipulator of accurate positioning |
| CN108750204A (en) * | 2018-06-21 | 2018-11-06 | 哈尔滨联科自动化技术开发有限公司 | Fully automatic vacuum mechanical-pneumatic is bionical all can be opened bag handgrip and open a bag method |
| CN108817889A (en) * | 2018-06-26 | 2018-11-16 | 芜湖优能自动化设备有限公司 | A kind of machinery valve body assembly line automatic catching robot |
| CN111959923A (en) * | 2020-08-04 | 2020-11-20 | 武汉理工大学 | Help old medicine chest |
| CN107813344B (en) * | 2017-11-27 | 2024-04-19 | 常州市新创智能科技有限公司 | Manipulator load balancing device |
-
2011
- 2011-07-23 CN CN201120262123U patent/CN202147277U/en not_active Expired - Lifetime
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102718154A (en) * | 2012-05-29 | 2012-10-10 | 广州欧凯特种陶瓷有限公司 | Sucker hanging bracket for machining glass ceramics |
| CN102717056A (en) * | 2012-06-27 | 2012-10-10 | 浙江福瑞科流控机械有限公司 | Furnace-front mechanical hand |
| CN102717059A (en) * | 2012-07-07 | 2012-10-10 | 盛富春 | Dross salvaging machine with rotary type dross rakes |
| CN102717059B (en) * | 2012-07-07 | 2013-09-11 | 盛富春 | Dross salvaging machine with rotary type dross rakes |
| CN102922516A (en) * | 2012-11-23 | 2013-02-13 | 莱芜精瑞模具有限公司 | Pneumatic power assisting industrial robot |
| CN103331753A (en) * | 2013-06-24 | 2013-10-02 | 苏州快吉刀片制造有限公司 | Manipulator in blade production |
| CN103737601A (en) * | 2013-11-27 | 2014-04-23 | 江苏凯特汽车部件有限公司 | CNC lathe machining power assisting device for automobile aluminum alloy wheel larger than 20 inches |
| CN104476559A (en) * | 2014-10-28 | 2015-04-01 | 芜湖赛德交通设备有限公司 | Robot wrist |
| CN104440865A (en) * | 2014-11-14 | 2015-03-25 | 江苏苏力机械集团有限公司 | Spring self-balancing assistance mechanical hand |
| CN104440865B (en) * | 2014-11-14 | 2016-04-06 | 江苏苏力机械集团有限公司 | Spring self-balancing boosting manipulator |
| CN104458235A (en) * | 2014-12-08 | 2015-03-25 | 江南大学 | Mechanical arm for safety valve adjustment |
| CN104458235B (en) * | 2014-12-08 | 2017-02-01 | 江南大学 | Mechanical arm for safety valve adjustment |
| CN104708623A (en) * | 2015-04-10 | 2015-06-17 | 苏州荣威工贸有限公司 | Robot with adjustable balance moment |
| CN104959998A (en) * | 2015-06-30 | 2015-10-07 | 山东科技大学 | Balancing device allowing big arm supporting force of mechanical arm to be adjusted and parameter optimizing design method thereof |
| CN105058380A (en) * | 2015-08-28 | 2015-11-18 | 天津玛塔德科技有限公司 | Cargo push-ironing and stacking manipulator capable of accurately positioning |
| CN106142079A (en) * | 2016-08-16 | 2016-11-23 | 无锡百禾工业机器人有限公司 | A kind of double handgrip handling machinery arm apparatus |
| CN106272391A (en) * | 2016-08-31 | 2017-01-04 | 江西鑫台铭智能科技有限公司 | The outer layer of a kind of New Type of Robot Arm and this mechanical arm covers the processing technology of material |
| CN107297739A (en) * | 2017-08-21 | 2017-10-27 | 芜湖挺优机电技术有限公司 | A kind of convenient conveying robot rotated |
| CN107813344A (en) * | 2017-11-27 | 2018-03-20 | 常州市新创智能科技有限公司 | A kind of manipulator load balance device |
| CN107813344B (en) * | 2017-11-27 | 2024-04-19 | 常州市新创智能科技有限公司 | Manipulator load balancing device |
| CN108750204A (en) * | 2018-06-21 | 2018-11-06 | 哈尔滨联科自动化技术开发有限公司 | Fully automatic vacuum mechanical-pneumatic is bionical all can be opened bag handgrip and open a bag method |
| CN108817889A (en) * | 2018-06-26 | 2018-11-16 | 芜湖优能自动化设备有限公司 | A kind of machinery valve body assembly line automatic catching robot |
| CN108705529A (en) * | 2018-08-03 | 2018-10-26 | 苏州夏木自动化科技有限公司 | A kind of Double-station manipulator |
| CN108705528A (en) * | 2018-08-03 | 2018-10-26 | 苏州夏木自动化科技有限公司 | A kind of manipulator of accurate positioning |
| CN111959923A (en) * | 2020-08-04 | 2020-11-20 | 武汉理工大学 | Help old medicine chest |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20161213 Address after: 271100 Shandong Province, Laiwu City Economic Development Zone Zhangjiawa Street office Luming 67-3 North Road, building 1 Patentee after: Shandong precision automation equipment Co., Ltd. Address before: 271100 Laiwu Province, mayor of North Road, Shandong, No. 286 Patentee before: Laiwu Jingrui Mold Co., Ltd. |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: Pneumatic self-balancing type manipulator Effective date of registration: 20170407 Granted publication date: 20120222 Pledgee: Laiwu Shandong rural commercial bank Limited by Share Ltd Pledgor: Shandong precision automation equipment Co., Ltd. Registration number: 2017370000033 |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120222 |