CN202668545U - Novel vacuum carrying manipulator - Google Patents
Novel vacuum carrying manipulator Download PDFInfo
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- CN202668545U CN202668545U CN 201220275523 CN201220275523U CN202668545U CN 202668545 U CN202668545 U CN 202668545U CN 201220275523 CN201220275523 CN 201220275523 CN 201220275523 U CN201220275523 U CN 201220275523U CN 202668545 U CN202668545 U CN 202668545U
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Abstract
The utility model relates to a vacuum carrying manipulator and belongs to a manipulator. The top of a vertical column of the manipulator is provided with a master rotary seat which is connected with a large side plate through a master rotary shaft, the lower end of the left side of the large side plate is provided with a master lifting cylinder, a joint locking device is arranged between the master rotary seat and the large side plate, one ends of a master swinging arm and an auxiliary swinging arm are connected with the large side plate respectively, the other ends of the master swinging arm and the auxiliary swinging arm are connected with a connecting plate respectively, a transverse arm rotary seat is connected with a rotary arm through a spindle of the rotary arm, an auxiliary joint locking device is arranged between the rotary arm and the transverse arm rotary seat, the tail end of the rotary arm is provided with a perpendicular arm rotary seat which is connected with the auxiliary rotary shaft, the auxiliary rotary seat is connected with a lower perpendicular arm, and the lower perpendicular arm is provided with a vacuum sucker at the tail end. The vacuum principle is utilized, objects are absorbed, weight of the objects is further balanced, and accordingly an operator can easily carry, turn, assemble and the like the objects and operation is simple, laborsaving, efficient and safe.
Description
Technical field
The utility model relates to a kind of manipulator, and a kind of novel evacuated conveying robot particularly is applicable to glass, coiled material, tubing and other surface is more smooth, the carrying of all kinds of materials of rule of shape.
Background technology
Since the reform and opening-up, the national economy rapid growth, " scientific and technical innovation, autonomous innovation " become the main flow of domestic industry development, and China's industry is just progressively to the future development of intensive style, energy-saving and emission-reduction, low-carbon (LC).Because manipulator provides very good assist transportation and assembling tool for rolling off the production line on the material and producing the article assembling, can finish the three dimensions move loading actions such as weight crawl, carrying, upset, docking, vernier angle, thereby be widely used in the industrial production.Manipulator can partly substitute people's mechanization and the automation of heavy work to realize producing, under the easy manipulation of operator, can finish many complex work of automatic robot, and production and use cost reduce greatly, the scope of application is also extensive simultaneously, and flexibility and mobility are larger.Vacuum carrying machinery hand is applicable to sheet material, glass, coiled material, tubing and other surface is more smooth, all kinds of material handlings of rule of shape.Common lifting appliance exists certain impulsive force and bounce when operation, larger to the workpiece infringement, security performance and setting accuracy all do not reach ideal effect.The technical staff of R﹠D institution and enterprise is constantly exploring, is studying, and wishes to develop a kind of manipulator of easy to operate, superior performance, although make some progress, still exists the technical barrier that not yet overcomes in practice.
Summary of the invention
The purpose of this utility model is to overcome above deficiency, a kind of novel evacuated conveying robot is provided, utilize the vacuum principle, absorbent bodies, and then the gravity of balance object, make operating personnel in the situation that fundamental sensation, is easily finished the operations such as the carrying, upset, assembling of object less than object gravity, simple to operate, laborsaving, the highly effective and safe of running.
The technical scheme that its technical problem that solves the utility model adopts is: contain universal wheel, travelling car, pull bar, column, main lift cylinder, main rotating seat, main rotating shaft, the main joint locking device, large side plate, swing principal arm, swing auxiliary, the subjoint locking device, connecting plate, the transverse arm rotating seat, the turning arm main shaft, turning arm, the plumbing arm rotating seat, secondary rotating shaft, lower plumbing arm, handrail, vacuum cup, the travelling car cross section is rectangle, four jiaos respectively are provided with a universal wheel bottom it, the travelling car top middle portion is provided with column, the left side is provided with pull bar, the column top is provided with main rotating seat, rotatable 360 °, main rotating seat is connected with large side plate by main rotating shaft, be provided with pneumatic control valve in the large side plate, pneumatic control valve is connected with main lift cylinder, lower end, large side plate left side is provided with main lift cylinder, large side plate is provided with interior plate, be provided with the main joint locking device between main rotating seat and the large side plate, swinging principal arm is connected with large side plate respectively with swing auxiliary one end, the other end is connected with connecting plate respectively, the swing principal arm is positioned at swing auxiliary downside and parallels with the swing auxiliary, the transverse arm rotating seat is connected with turning arm by the turning arm main shaft, rotatable 300 ° of turning arm, be provided with the subjoint locking device between turning arm and the transverse arm rotating seat, the turning arm end is provided with the plumbing arm rotating seat, rotatable 360 °, the plumbing arm rotating seat is connected with secondary rotating shaft, secondary rotating shaft is connected with lower plumbing arm, lower plumbing arm is provided with handrail, handrail is provided with computer controling box, lower plumbing arm end is provided with vacuum cup, and inhale the vacuum cup lower end workpiece.
The know-why that its technical problem that solves the utility model adopts is: this manipulator utilizes vacuum adsorption principle, with vavuum pump or vacuum blower as vacuum source, produce vacuum by the air in the vacuum cup of finding time, thereby various workpiece are firmly picked up, and by swinging principal arm, swing auxiliary, turning arm, lower plumbing arm etc. workpiece handling is arrived the appointed place.This vacuum is to produce the load lifting that does not need chain or rope hoist or other lifting means to grasp or mention by the vavuum pump of an outside or vacuum blower.By detecting the vacuum in the vacuum cup, can automatically identify on the lower plumbing arm has no-load, and through the automatic air pressure of adjusting in the main lift cylinder of pneumatic logic control loop, reaches self balancing purpose.During work, weight is aerial just as being suspended in, and workpiece surface damage is avoided in the collision in the time of can avoiding the product docking.In the working range of manipulator, operator can move to it optional position in three dimensions, thus the operations such as the carrying of realization workpiece, upset, assembling.Complete machine need not electric-control system, only needs compressed air and vacuum source to get final product work, and is very convenient.
Travelling car be used for to be changed station, and travelling car is provided with column, and the column top is provided with main rotating seat, can realize the principal rotating motion of manipulator, and the workpiece in 360 ° of scopes is on every side operated.It is fixed that the type selecting of vacuum carrying machinery hand is workpiece size, the material of carrying as required, weight is come, and different materials need to be used the sucker of unlike material.With silica gel or polyurethane sucker, add in addition sponge sucker lip such as the more coarse general option of surface of the work, guarantee that sucker can adsorb safely.As glass, select natural rubber or NBR sucker for the workpiece of surperficial smoother.The temperature of the working environment of manipulator, the selection of the sucker material that humidity and workpiece temperature etc. all can affect.
The beneficial effects of the utility model are:
1) easy operation: this manipulator is according to ergonomic designs, with the tractive force of operator up and down all around the automatic frame of three dimensions survey operation, alleviate workman's work load, flexible to operation, increase work efficiency;
2) suspension reaches without impulsive force and do not have bounce: this manipulator mainly is to rely on vacuum source to produce vacuum at the air of the sucker inside of finding time, can finish not damaged carrying or the material loading of workpiece, and when guaranteeing assembling product, flexible docking, impact and bounce when avoiding common lifting appliance operation, workpiece surface damage is avoided in safety absorption;
3) registration: zero-g suspended state, random mobile accurately location when guaranteeing the workpiece docking.
4) safe: in the situation that the vavuum pump outage, energy reserve can keep load several hours, as long as there is suitable vacuum to exist in the sucker, load just can not fallen.
Description of drawings
The below is further described the utility model in conjunction with the accompanying drawings and embodiments:
It is a kind of novel evacuated conveying robot structural representation among the figure.
In the drawings, 1 universal wheel, 2 travelling cars, 3 pull bars, 4 columns, 5 main lift cylinders, 6 main rotating seats, 7 main rotating shafts, 8 main joint locking devices, 9 large side plates, 10 swing principal arms, 11 and swing auxiliarys, 12 subjoint locking devices, 13 connecting plates, 14 transverse arm rotating seats, 15 turning arm main shafts, 16 turning arms, 17 plumbing arm rotating seats, 18 secondary rotating shafts, 19 times plumbing arms, 20 handrails, 21 vacuum cups, 22 workpiece.
The specific embodiment
In the drawings, travelling car 2 cross sections are rectangle, four jiaos respectively are provided with a universal wheel 1 bottom it, travelling car 2 top middle portion are provided with column 4, the left side is provided with pull bar 3, column 4 tops are provided with main rotating seat 6, rotatable 360 °, main rotating seat 6 is connected with large side plate 9 by main rotating shaft 7, be provided with pneumatic control valve in the large side plate 9, pneumatic control valve is connected with main lift cylinder 5, large lower end, side plate 9 left side is provided with main lift cylinder 5, large side plate 9 is provided with interior plate, be provided with main joint locking device 8 between main rotating seat 6 and the large side plate 9, swinging principal arm 10 is connected with large side plate 9 respectively with swing auxiliary 11 1 ends, the other end is connected with connecting plate 13 respectively, swing principal arm 10 is positioned at swing auxiliary 11 downsides and parallels with swing auxiliary 11, transverse arm rotating seat 14 is connected with turning arm 16 by turning arm main shaft 15, turning arm 16 rotatable 300 °, be provided with subjoint locking device 12 between turning arm 16 and the transverse arm rotating seat 14, turning arm 16 ends are provided with plumbing arm rotating seat 17, rotatable 360 °, plumbing arm rotating seat 17 is connected with secondary rotating shaft 18, secondary rotating shaft 18 is connected with lower plumbing arm 19, and lower plumbing arm 19 is provided with handrail 20, and handrail 20 is provided with computer controling box, lower plumbing arm 19 ends are provided with vacuum cup 21, and inhale vacuum cup 21 lower ends workpiece.
This manipulator utilizes vacuum adsorption principle, with vavuum pump or vacuum blower as vacuum source, produce vacuum by the air in the vacuum cup 21 of finding time, thereby various workpiece are firmly picked up, and by swinging principal arm 10, swing auxiliary 11, turning arm 16, lower plumbing arm 19 etc. workpiece handling is arrived the appointed place.This vacuum is to produce the load lifting that does not need chain or rope hoist or other lifting means to grasp or mention by the vavuum pump of an outside or vacuum blower.By detecting the vacuum in the vacuum cup 21, can automatically identify on the lower plumbing arm 19 has no-load, and through the automatic air pressure of adjusting in the main lift cylinder 5 of pneumatic logic control loop, reaches self balancing purpose.During work, weight is aerial just as being suspended in, and workpiece surface damage is avoided in the collision in the time of can avoiding the product docking.In the working range of manipulator, operator can move to it optional position in three dimensions, thus the operations such as the carrying of realization workpiece, upset, assembling.Complete machine need not electric-control system, only needs compressed air and vacuum source to get final product work, and is very convenient.
Travelling car 2 is used for changing station, and travelling car 2 is provided with column 4, and column 4 tops are provided with main rotating seat 6, can realize the principal rotating motion of manipulator, and the workpiece in 360 ° of scopes is on every side operated.It is fixed that the type selecting of vacuum carrying machinery hand is workpiece size, the material of carrying as required, weight is come, and different materials need to be used the sucker of unlike material.With silica gel or polyurethane sucker, add in addition sponge sucker lip such as the more coarse general option of surface of the work, guarantee that sucker can adsorb safely.As glass, select natural rubber or NBR sucker for the workpiece of surperficial smoother.The temperature of the working environment of manipulator, the selection of the sucker material that humidity and workpiece temperature etc. all can affect.
Claims (1)
1. novel evacuated conveying robot, contain universal wheel, travelling car, pull bar, column, main lift cylinder, main rotating seat, main rotating shaft, the main joint locking device, large side plate, swing principal arm, swing auxiliary, the subjoint locking device, connecting plate, the transverse arm rotating seat, the turning arm main shaft, turning arm, the plumbing arm rotating seat, secondary rotating shaft, lower plumbing arm, handrail, vacuum cup, it is characterized in that: the travelling car cross section is rectangle, four jiaos respectively are provided with a universal wheel bottom it, the travelling car top middle portion is provided with column, the left side is provided with pull bar, the column top is provided with main rotating seat, rotatable 360 °, main rotating seat is connected with large side plate by main rotating shaft, the column top is connected with large lower end, side plate right side, be provided with pneumatic control valve in the large side plate, pneumatic control valve is connected with main lift cylinder, lower end, large side plate left side is provided with main lift cylinder, large side plate is provided with interior plate, be provided with the main joint locking device between main rotating seat and the large side plate, swinging principal arm is connected with large side plate respectively with swing auxiliary one end, the other end is connected with connecting plate respectively, the swing principal arm is positioned at swing auxiliary downside and parallels with the swing auxiliary, the transverse arm rotating seat is connected with turning arm by the turning arm main shaft, rotatable 300 ° of turning arm, be provided with the subjoint locking device between turning arm and the transverse arm rotating seat, the turning arm end is provided with the plumbing arm rotating seat, rotatable 360 °, the plumbing arm rotating seat is connected with secondary rotating shaft, secondary rotating shaft is connected with lower plumbing arm, lower plumbing arm is provided with handrail, handrail is provided with computer controling box, lower plumbing arm end is provided with vacuum cup, and inhale the vacuum cup lower end workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220275523 CN202668545U (en) | 2012-06-04 | 2012-06-04 | Novel vacuum carrying manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220275523 CN202668545U (en) | 2012-06-04 | 2012-06-04 | Novel vacuum carrying manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202668545U true CN202668545U (en) | 2013-01-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220275523 Expired - Fee Related CN202668545U (en) | 2012-06-04 | 2012-06-04 | Novel vacuum carrying manipulator |
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| CN (1) | CN202668545U (en) |
Cited By (8)
| 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 |
| CN103481279A (en) * | 2012-06-14 | 2014-01-01 | 南车青岛四方机车车辆股份有限公司 | Multi-freedom-degree manipulator fixture |
| CN103495975A (en) * | 2013-10-08 | 2014-01-08 | 盐城市昱博自动化设备有限公司 | Automobile leaf spring carrying mechanical arm |
| CN104440866A (en) * | 2014-12-25 | 2015-03-25 | 广西大学 | Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair |
| CN104608111A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Four-freedom-degree nine-connecting rod controllable movement operation mechanical arm with movement pair |
| CN106542472A (en) * | 2016-12-23 | 2017-03-29 | 山东省元丰节能装备科技股份有限公司 | Energy-conserving and environment-protective storage equipment construction upper trigger |
| CN108381508A (en) * | 2016-07-18 | 2018-08-10 | 长泰品原电子科技有限公司 | A kind of six axis all-purpose robots |
| CN108544527A (en) * | 2018-03-18 | 2018-09-18 | 连云港格航工业设计有限公司 | A kind of manipulator automatic positioning equipment for the production of mobile phone glue iron |
-
2012
- 2012-06-04 CN CN 201220275523 patent/CN202668545U/en not_active Expired - Fee Related
Cited By (11)
| 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 |
| CN103481279A (en) * | 2012-06-14 | 2014-01-01 | 南车青岛四方机车车辆股份有限公司 | Multi-freedom-degree manipulator fixture |
| CN103481279B (en) * | 2012-06-14 | 2016-12-21 | 中车青岛四方机车车辆股份有限公司 | Multi-freedom-degreemanipulator manipulator fixture |
| CN103495975A (en) * | 2013-10-08 | 2014-01-08 | 盐城市昱博自动化设备有限公司 | Automobile leaf spring carrying mechanical arm |
| CN104440866A (en) * | 2014-12-25 | 2015-03-25 | 广西大学 | Three-degree-of-freedom nine-connecting-rod controllable mobile operating mechanical arm with mobile pair |
| CN104608111A (en) * | 2014-12-25 | 2015-05-13 | 广西大学 | Four-freedom-degree nine-connecting rod controllable movement operation mechanical arm with movement pair |
| CN104440866B (en) * | 2014-12-25 | 2016-03-30 | 广西大学 | A kind of controlled mobile manipulator mechanical arm of Three Degree Of Freedom nine connecting rod of Tape movement pair |
| CN104608111B (en) * | 2014-12-25 | 2016-06-15 | 广西大学 | The controlled mobile manipulator mechanical arm of four-degree-of-freedom nine connecting rod that a kind of Tape movement is secondary |
| CN108381508A (en) * | 2016-07-18 | 2018-08-10 | 长泰品原电子科技有限公司 | A kind of six axis all-purpose robots |
| CN106542472A (en) * | 2016-12-23 | 2017-03-29 | 山东省元丰节能装备科技股份有限公司 | Energy-conserving and environment-protective storage equipment construction upper trigger |
| CN108544527A (en) * | 2018-03-18 | 2018-09-18 | 连云港格航工业设计有限公司 | A kind of manipulator automatic positioning equipment for the production of mobile phone glue iron |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130116 Termination date: 20180604 |