CN204322097U - A kind of electric-gas folding-jib manipulator - Google Patents
A kind of electric-gas folding-jib manipulator Download PDFInfo
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- CN204322097U CN204322097U CN201420785031.8U CN201420785031U CN204322097U CN 204322097 U CN204322097 U CN 204322097U CN 201420785031 U CN201420785031 U CN 201420785031U CN 204322097 U CN204322097 U CN 204322097U
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- rocker arm
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- rear class
- arm assembly
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Abstract
The utility model relates to mechanical automation equipment technical field, especially a kind of electric-gas folding-jib manipulator.It comprises workbench, manipulator and the driving assembly for driving device hand moving linearly and/or rotary motion, and manipulator comprises base assembly, gas grabs assembly, prime Rocker arm assembly, rear class Rocker arm assembly and elbow contiguous block assembly; Prime Rocker arm assembly is provided with prime rotary cylinder, the head end of prime Rocker arm assembly is connected with base assembly axle by the body of prime rotary cylinder, tail end is connected with elbow contiguous block assembly axle, and the tail end of the piston rod of prime rotary cylinder is connected with prime Rocker arm assembly axle; Rear class Rocker arm assembly is provided with rear class rotary cylinder, the head end of rear class Rocker arm assembly is connected with elbow contiguous block assembly axle by the body of rear class rotary cylinder, tail end is grabbed assembly with gas and is connected, and the tail end of the piston rod of rear class rotary cylinder is connected with rear class Rocker arm assembly axle.The utility model structure is simple, with low cost, can be widely used in professional colleges teaching and field of industrial production.
Description
Technical field
The utility model relates to mechanical automation equipment technical field, especially a kind of electric-gas folding-jib manipulator.
Background technology
Along with development that is scientific and technological and industrial technology, automation equipment has been widely used in each production field and teaching field, and wherein, namely manipulator is the plant equipment that a kind of automaticity is higher, and it is for carrying out crawl and the carrying work of object or material.
But existing manipulator is the following defect of ubiquity but: 1, high, the manufacturing cost of complex structure, integration degree and use cost also comparatively high, the application popularization of the manipulator of serious restriction; 2, very flexible, interiorly on a large scale cannot capture object or material and carry; 3, the power and energy between commercial Application and field research cannot be realized, the scope of application of the manipulator of serious restriction; 4, complex structure, weight greatly, are not easy to carry out dismounting maintenance.
Therefore, be necessary to propose improvement project, to strengthen versatility and the practicality of manipulator to existing manipulator.
Utility model content
For above-mentioned the deficiencies in the prior art, the purpose of this utility model is to provide that a kind of structure is simple, with low cost, opereating specification large, the electric-gas folding-jib manipulator of highly versatile.
To achieve these goals, the utility model adopts following technical scheme:
A kind of electric-gas folding-jib manipulator, it comprises workbench and manipulator, and described manipulator comprises base assembly, gas grabs assembly, prime Rocker arm assembly, rear class Rocker arm assembly and elbow contiguous block assembly;
Described prime Rocker arm assembly is provided with prime rotary cylinder, the head end of described prime Rocker arm assembly is connected with base assembly axle by the body of prime rotary cylinder, tail end is connected with elbow contiguous block assembly axle, and the tail end of the piston rod of described prime rotary cylinder is connected with prime Rocker arm assembly axle;
Described rear class Rocker arm assembly is provided with rear class rotary cylinder, the head end of described rear class Rocker arm assembly is connected with elbow contiguous block assembly axle by the body of rear class rotary cylinder, tail end is grabbed assembly with gas and is connected, and the tail end of the piston rod of described rear class rotary cylinder is connected with rear class Rocker arm assembly axle;
Described workbench is provided with for the driving assembly of driving device palmistry for workbench moving linearly and/or rotary motion, described driving assembly is connected with base assembly.
Preferably, described elbow contiguous block assembly comprises two panels elbow clamping plate positioned opposite, and the tail end of described prime Rocker arm assembly and the head end of rear class Rocker arm assembly to be all clamped between two panels elbow clamping plate and to be connected with elbow clamping plate axle.
Preferably, described prime Rocker arm assembly comprises prime upper rocker arm and the prime lower shake-changing arm of parallel distributed, the head end of described prime upper rocker arm is connected with base assembly axle by the body of prime rotary cylinder, tail end is connected with elbow clamping plate axle, the two ends end to end of described prime lower shake-changing arm are connected with base assembly and elbow clamping plate axle respectively, and the tail end axle of the piston rod of described prime rotary cylinder is connected in the middle part of prime lower shake-changing arm;
Described rear class Rocker arm assembly comprises rear class upper rocker arm and the rear class lower shake-changing arm of parallel distributed, the head end of described rear class upper rocker arm is connected with elbow clamping plate axle by the body of rear class rotary cylinder, tail end is grabbed assembly axle with gas and is connected, the two ends end to end of described rear class lower shake-changing arm are gentle with elbow clamping plate respectively grabs assembly axle and is connected, and the tail end axle of the piston rod of described rear class rotary cylinder is connected in the middle part of rear class lower shake-changing arm.
Preferably, described elbow contiguous block assembly comprises several and is distributed in intermediate Rocker arm assembly between prime Rocker arm assembly and rear class Rocker arm assembly and several are distributed in clamping plate group between two intermediate Rocker arm assemblies between prime Rocker arm assembly and intermediate Rocker arm assembly, adjacent, between intermediate Rocker arm assembly and rear class Rocker arm assembly, each described clamping plate group is formed by the elbow clamping plate that two panels is positioned opposite, and each described intermediate Rocker arm assembly is provided with an intermediate rotary cylinder;
The body of each described intermediate rotary cylinder all connects with corresponding clamping plate group axle, the tail end of piston rod is connected with corresponding intermediate Rocker arm assembly axle.
Preferably, described driving assembly comprises rotating driver, is arranged at the linear actuator on workbench and is positioned at the guide rail of linear actuator output;
Described base assembly is horizontally placed on guide rail, the output of described linear actuator is connected with base assembly and drives base assembly to move as straight-line feed along guide rail, and described rotating driver is arranged at the below of base assembly and drives base assembly to make rotary reciprocating motion relative to workbench.
Preferably, described base assembly comprises slide unit, rotary disk, base and bearing, described slide unit to be entrenched on guide rail by slide block and to be socketed on the bottom of bearing, the head end of described prime Rocker arm assembly is connected on base by prime rotary cylinder axle, described base is fixed on rotary disk, described rotary disk is socketed on the upper end of bearing, and described rotating driver is connected with bearing, and the output of described linear actuator is connected with slide unit.
Preferably, described gas grabs that assembly comprises wrist contiguous block, gas is grabbed and driven that cylinder is gentle grabs, the tail end phase axle of described wrist contiguous block and rear class Rocker arm assembly connects, and described gas is grabbed and driven cylinder to be fixed on wrist contiguous block, described gas grab be connected to gas grab drive cylinder piston rod on.
Owing to have employed such scheme, the utility model is by the reasonable setting of Rocker arm assembly and drived control, make manipulator can carry out automatic rotary and the motion of large-scale elevate a turnable ladder in the scope of 180 °, to be put into the position in another differing heights and direction after object or material being captured from certain position as required, drastically increase the flexibility of manipulator; Meanwhile, because structure is simple, manufacturing cost and use cost cheap, professional colleges teaching and field of industrial production can be widely used in, improve versatility and the practicality of manipulator.
Accompanying drawing explanation
Fig. 1 be the utility model embodiment face cross section structure schematic diagram;
Fig. 2 is the side-looking planar structure schematic diagram of the utility model embodiment.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment of the present utility model is described in detail, but the multitude of different ways that the utility model can be defined by the claims and cover is implemented.
As depicted in figs. 1 and 2, a kind of electric-gas folding-jib manipulator that the utility model embodiment provides, the manipulator that it comprises workbench 1 and is arranged on workbench 1; Wherein, manipulator comprises:
Base assembly, for providing a supporting role for whole manipulator and realizing the function that manipulator carries out rectilinear motion or rotary motion within the specific limits;
Gas grabs assembly, for realizing the material of manipulator or grasping body and carrying function;
Elbow contiguous block assembly, plays the transfer connection function between associated components or assembly;
Prime Rocker arm assembly, prime Rocker arm assembly is provided with prime rotary cylinder 2, the head end of prime Rocker arm assembly is connected with base assembly axle by the body of prime rotary cylinder 2, tail end is connected with elbow contiguous block assembly axle, the tail end of the piston rod of prime rotary cylinder 2 is connected with prime Rocker arm assembly axle, utilize prime to drive cylinder 2 to do the rotary motion of certain angle to drive prime Rocker arm assembly relative to base assembly with this, thus realize the control to the lift of prime Rocker arm assembly;
Rear class Rocker arm assembly, rear class Rocker arm assembly is provided with rear class rotary cylinder 3, the head end of rear class Rocker arm assembly is connected with elbow contiguous block assembly axle by the body of rear class rotary cylinder 3, tail end and gas are grabbed assembly and are connected, the tail end of the piston rod of rear class rotary cylinder 3 is connected with rear class Rocker arm assembly axle, rear class is utilized to drive cylinder 3 to do the rotary motion of certain angle to drive rear class Rocker arm assembly relative to elbow contiguous block assembly or prime Rocker arm assembly with this, thus the control realized the lift of rear class Rocker arm assembly, and then realize the position adjustment that gas grabs assembly, to capture and to carry material or object,
Meanwhile, workbench 1 is also provided with for the overall driving assembly relative to workbench 1 moving linearly and/or rotary motion of driving device hand, drives assembly by the motion fetching and drive whole machinery that is connected with base assembly.
Pass through said structure, the manipulator of the present embodiment can be made in the scope of 180 ° can to carry out automatic rotary and the motion of large-scale elevate a turnable ladder, to be put into the position in another differing heights and direction after object or material being captured from certain position as required, drastically increase the flexibility of manipulator; Meanwhile, because structure is simple, manufacturing cost and use cost cheap, make manipulator not only be applicable to field of industrial production, be also applicable to teaching, improve versatility and the practicality of manipulator.
For simplifying the structure of whole manipulator to greatest extent and being convenient to dismounting maintenance, the elbow contiguous block assembly of the present embodiment comprises two panels elbow clamping plate 4 positioned opposite, and the tail end of prime Rocker arm assembly and the head end of rear class Rocker arm assembly then all can be clamped between two panels elbow clamping plate 4 and to realize being connected with elbow clamping plate 4 axle.And the prime Rocker arm assembly of the present embodiment and rear class Rocker arm assembly can adopt identical version, so that on the basis of assurance function effect, simplify the structure of Rocker arm assembly, be specially: prime Rocker arm assembly comprises prime upper rocker arm 5 and the prime lower shake-changing arm 6 of parallel distributed, the head end of prime upper rocker arm 5 is connected with base assembly axle by the body of prime rotary cylinder 2, tail end is connected with elbow clamping plate 4 axle, the two ends end to end of prime lower shake-changing arm 6 are connected with base assembly and elbow clamping plate 4 axle respectively, the tail end of the piston rod of prime rotary cylinder 2 then axle is connected in the middle part of prime lower shake-changing arm 6, correspondingly, rear class Rocker arm assembly then comprises rear class upper rocker arm 7 and the rear class lower shake-changing arm 8 of parallel distributed, the head end of rear class upper rocker arm 7 is connected with elbow clamping plate 4 axle by the body of rear class rotary cylinder 3, tail end is grabbed assembly axle with gas and is connected, the two ends end to end of rear class lower shake-changing arm 8 are gentle with elbow clamping plate 4 respectively grabs assembly axle and is connected, the tail end axle of the piston rod of rear class rotary cylinder 3 is connected in the middle part of rear class lower shake-changing arm 8, it not only simplifies the structure of Rocker arm assembly, also reduce the weight of Rocker arm assembly, drastically increase the convenience of manipulator dismounting.
The manipulator of the present embodiment can be made up of two-step rocker arm assembly (i.e. prime Rocker arm assembly and rear class Rocker arm assembly), also can arrange according to reality use or the progression of design conditions to Rocker arm assembly, namely the quantity with prime Rocker arm assembly or rear class Rocker arm assembly with mutually isostructural rocking arm is increased, realize the expansion to manipulator scope of activities, be specially: the elbow contiguous block assembly of the present embodiment comprises several and to be distributed between prime Rocker arm assembly with rear class Rocker arm assembly and to have mutually isostructural intermediate Rocker arm assembly (not shown with prime Rocker arm assembly or rear class Rocker arm assembly, its concrete connected mode or set-up mode can with reference to front, rear class Rocker arm assembly is arranged), also comprise several is distributed between prime Rocker arm assembly and intermediate Rocker arm assembly simultaneously, between two adjacent intermediate Rocker arm assemblies, clamping plate group between middle rank Rocker arm assembly and rear class Rocker arm assembly, and each clamping plate group is formed by the elbow clamping plate 4 that two panels is positioned opposite, each intermediate Rocker arm assembly is provided with an intermediate rotary cylinder (not shown, it specifically can carry out structure choice and setting with reference to prime rotary cylinder or rear class rotary cylinder), the body of each intermediate rotary cylinder all connects with corresponding clamping plate group axle, the tail end of piston rod is connected with corresponding intermediate Rocker arm assembly axle.So, the entire length of whole manipulator rocking arm can be extended and realize the setting of multiple similar articulation structure, thus greatly extending elevate a turnable ladder and the rotating range of manipulator.
Further, for ensureing the action effect of manipulator, and improve the automaticity of whole manipulator, the driving assembly of the present embodiment comprises rotating driver (not shown, can to adopt stepper motor according to actual conditions), be arranged at the linear actuator 9 (it can adopt cylinder) on workbench 1 and be positioned at the guide rail 10 (it can adopt the version of spherical guide) of linear actuator 9 output; Wherein, base assembly is horizontally placed on guide rail 10, the output of linear actuator 9 is connected with base assembly and drives base assembly to move as straight-line feed along guide rail 10, and rotating driver is then arranged at the below of base assembly and drives base assembly to make rotary reciprocating motion relative to workbench 1.So, utilize rotating driver and linear actuator 9 and realized the rotation of whole manipulator, the control of action of advancing by base assembly, and both itself realize accurate controls of sequencing, automation by the similar centralized control equipment such as PLC, controller.
For optimizing the structure of whole manipulator further, the base assembly of the present embodiment comprises slide unit 11, rotary disk 12, base 13 and bearing 14; Wherein, slide unit 11 to be entrenched on guide rail 10 by slide block 15 and to be socketed on the bottom of bearing 14, the head end (being specially the head end of prime upper rocker arm 5 and the head end of prime lower shake-changing arm 6) of prime Rocker arm assembly is connected on base 13 by prime rotary cylinder axle 2, base 13 is fixed on rotary disk 12, rotary disk 12 is socketed on the upper end of bearing 14, rotating driver is connected with bearing 14, and the output of linear actuator 9 is connected with slide unit 11.The gas of the present embodiment is grabbed assembly and then can be adopted following structure, that is: comprise wrist contiguous block 16, gas grabs and drive that cylinder 17 is gentle grabs 18, wrist contiguous block 16 connects with tail end (being specially the tail end of rear class upper rocker arm 7 and the tail end of rear class lower shake-changing arm 8) the phase axle of rear class Rocker arm assembly, gas grab drive cylinder 17 be fixed on wrist contiguous block 16, gas grab 18 be connected to gas grab drive cylinder 17 piston rod on; So, gas grabs assembly while realized position adjustment by each Rocker arm assembly, and gas is grabbed and driven cylinder 17 can control gas to grab 18 and to grab along gas and start the piston rod direction of cylinder 17 and do feed motion, to capture material or object in place.
In addition, the critical piece of the manipulator of the present embodiment can adopt aluminum alloy materials manufacture, also can carry out anode process to core component, make it have that quality is light, thermal diffusivity good, the feature such as aesthetic in appearance, energy-conserving and environment-protective, comprehensive said structure, the manipulator of known the present embodiment is not only applicable to professional colleges " work-study integration " teaching, also can according to enterprise's production actual demand situation, for completing material grasping on streamline, the work such as feeding and workshop carrying, highly versatile, has very strong market popularization value.
The foregoing is only preferred embodiment of the present utility model; not thereby the scope of the claims of the present utility model is limited; every utilize the utility model description and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.
Claims (7)
1. an electric-gas folding-jib manipulator, it comprises workbench and manipulator, it is characterized in that: described manipulator comprises base assembly, gas grabs assembly, prime Rocker arm assembly, rear class Rocker arm assembly and elbow contiguous block assembly;
Described prime Rocker arm assembly is provided with prime rotary cylinder, the head end of described prime Rocker arm assembly is connected with base assembly axle by the body of prime rotary cylinder, tail end is connected with elbow contiguous block assembly axle, and the tail end of the piston rod of described prime rotary cylinder is connected with prime Rocker arm assembly axle;
Described rear class Rocker arm assembly is provided with rear class rotary cylinder, the head end of described rear class Rocker arm assembly is connected with elbow contiguous block assembly axle by the body of rear class rotary cylinder, tail end is grabbed assembly with gas and is connected, and the tail end of the piston rod of described rear class rotary cylinder is connected with rear class Rocker arm assembly axle;
Described workbench is provided with for the driving assembly of driving device palmistry for workbench moving linearly and/or rotary motion, described driving assembly is connected with base assembly.
2. a kind of electric-gas folding-jib manipulator as claimed in claim 1, it is characterized in that: described elbow contiguous block assembly comprises two panels elbow clamping plate positioned opposite, the tail end of described prime Rocker arm assembly and the head end of rear class Rocker arm assembly to be all clamped between two panels elbow clamping plate and to be connected with elbow clamping plate axle.
3. a kind of electric-gas folding-jib manipulator as claimed in claim 2, it is characterized in that: described prime Rocker arm assembly comprises prime upper rocker arm and the prime lower shake-changing arm of parallel distributed, the head end of described prime upper rocker arm is connected with base assembly axle by the body of prime rotary cylinder, tail end is connected with elbow clamping plate axle, the two ends end to end of described prime lower shake-changing arm are connected with base assembly and elbow clamping plate axle respectively, and the tail end axle of the piston rod of described prime rotary cylinder is connected in the middle part of prime lower shake-changing arm;
Described rear class Rocker arm assembly comprises rear class upper rocker arm and the rear class lower shake-changing arm of parallel distributed, the head end of described rear class upper rocker arm is connected with elbow clamping plate axle by the body of rear class rotary cylinder, tail end is grabbed assembly axle with gas and is connected, the two ends end to end of described rear class lower shake-changing arm are gentle with elbow clamping plate respectively grabs assembly axle and is connected, and the tail end axle of the piston rod of described rear class rotary cylinder is connected in the middle part of rear class lower shake-changing arm.
4. a kind of electric-gas folding-jib manipulator as claimed in claim 1, it is characterized in that: described elbow contiguous block assembly comprises several and is distributed in intermediate Rocker arm assembly between prime Rocker arm assembly and rear class Rocker arm assembly and several are distributed in clamping plate group between two intermediate Rocker arm assemblies between prime Rocker arm assembly and intermediate Rocker arm assembly, adjacent, between intermediate Rocker arm assembly and rear class Rocker arm assembly, each described clamping plate group is formed by the elbow clamping plate that two panels is positioned opposite, and each described intermediate Rocker arm assembly is provided with an intermediate rotary cylinder;
The body of each described intermediate rotary cylinder all connects with corresponding clamping plate group axle, the tail end of piston rod is connected with corresponding intermediate Rocker arm assembly axle.
5. a kind of electric-gas folding-jib manipulator according to any one of claim 1-4, is characterized in that: described driving assembly comprises rotating driver, be arranged at the linear actuator on workbench and be positioned at the guide rail of linear actuator output;
Described base assembly is horizontally placed on guide rail, the output of described linear actuator is connected with base assembly and drives base assembly to move as straight-line feed along guide rail, and described rotating driver is arranged at the below of base assembly and drives base assembly to make rotary reciprocating motion relative to workbench.
6. a kind of electric-gas folding-jib manipulator as claimed in claim 5, it is characterized in that: described base assembly comprises slide unit, rotary disk, base and bearing, described slide unit to be entrenched on guide rail by slide block and to be socketed on the bottom of bearing, the head end of described prime Rocker arm assembly is connected on base by prime rotary cylinder axle, described base is fixed on rotary disk, described rotary disk is socketed on the upper end of bearing, described rotating driver is connected with bearing, and the output of described linear actuator is connected with slide unit.
7. a kind of electric-gas folding-jib manipulator as claimed in claim 6, it is characterized in that: described gas grabs that assembly comprises wrist contiguous block, gas is grabbed and driven that cylinder is gentle grabs, described wrist contiguous block connects with the tail end phase axle of rear class Rocker arm assembly, described gas grab drive cylinder be fixed on wrist contiguous block, described gas grab be connected to gas grab drive cylinder piston rod on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420785031.8U CN204322097U (en) | 2014-12-12 | 2014-12-12 | A kind of electric-gas folding-jib manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420785031.8U CN204322097U (en) | 2014-12-12 | 2014-12-12 | A kind of electric-gas folding-jib manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN204322097U true CN204322097U (en) | 2015-05-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420785031.8U Expired - Fee Related CN204322097U (en) | 2014-12-12 | 2014-12-12 | A kind of electric-gas folding-jib manipulator |
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| CN (1) | CN204322097U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171721A (en) * | 2015-10-19 | 2015-12-23 | 无锡清杨机械制造有限公司 | Hydraulic drive clamping jaw |
| CN105819218A (en) * | 2016-06-16 | 2016-08-03 | 贵州顺安机电设备有限公司 | Method for completing group organization work of green anode carbon blocks by using manipulator |
| CN107243898A (en) * | 2017-06-09 | 2017-10-13 | 陕西科技大学 | A kind of link-type intelligent robot |
| CN109771288A (en) * | 2018-12-29 | 2019-05-21 | 浙江厚达智能科技股份有限公司 | A kind of rotary type, which is boiled medicine, changes liquid method |
-
2014
- 2014-12-12 CN CN201420785031.8U patent/CN204322097U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171721A (en) * | 2015-10-19 | 2015-12-23 | 无锡清杨机械制造有限公司 | Hydraulic drive clamping jaw |
| CN105819218A (en) * | 2016-06-16 | 2016-08-03 | 贵州顺安机电设备有限公司 | Method for completing group organization work of green anode carbon blocks by using manipulator |
| CN105819218B (en) * | 2016-06-16 | 2017-11-14 | 贵州顺安机电设备有限公司 | A kind of method that green anode carbon block marshalling work is completed using manipulator |
| CN107243898A (en) * | 2017-06-09 | 2017-10-13 | 陕西科技大学 | A kind of link-type intelligent robot |
| CN107243898B (en) * | 2017-06-09 | 2024-01-30 | 陕西科技大学 | Connecting rod type intelligent robot |
| CN109771288A (en) * | 2018-12-29 | 2019-05-21 | 浙江厚达智能科技股份有限公司 | A kind of rotary type, which is boiled medicine, changes liquid method |
| CN109771288B (en) * | 2018-12-29 | 2021-07-02 | 浙江厚达智能科技股份有限公司 | Rotary type medicine decocting and liquid changing method |
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Legal Events
| Date | Code | Title | Description |
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| 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: 20150513 Termination date: 20191212 |