CN206493309U - A kind of pneumatic multi-jaw chuck device - Google Patents
A kind of pneumatic multi-jaw chuck device Download PDFInfo
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- CN206493309U CN206493309U CN201720123378.XU CN201720123378U CN206493309U CN 206493309 U CN206493309 U CN 206493309U CN 201720123378 U CN201720123378 U CN 201720123378U CN 206493309 U CN206493309 U CN 206493309U
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Abstract
The utility model is related to a kind of pneumatic multi-jaw chuck device, including body, claw and pressure sensor；The body interior has gas circuit, and body exterior is provided with pneumatic connector and claw guide groove, and the pressure sensor is installed on the inside of claw.The utility model can realize the accurate crawl of measuring cup under the control of the PLC of multi-joint mechanical arm, improve dangerization solution is extracted under high-risk environment integrated level, flexible and high workload efficiency.
Description
Technical field
The utility model is related to automatic field, specifically a kind of pneumatic multi-jaw chuck device.
Background technology
The many places of the industry such as the manufacturing, health care, nuclear test and nuclear power, chemical metallurgy can produce a large amount of components and answer
The danger solution that miscellaneous, density unevenness, corrosivity are big, radioactivity is high, easily causes serious injury to people, animal and environment.This
Class dangerization solution typically using isolation method storage within the enclosed space, through collection storage, sampling detection, purified treatment with
And discharge etc. step, with dilution or solidification etc. method processing after, be converted into the concentrate of small size and preserved, treat corrosivity
It is less than with radioactivity after maximum allowable discharge index, is arranged and buried or spread in environment.The sampling inspection of dangerization solution
Survey is very important link in processing procedure, and this stage detects composition and content to dangerization solution, only fully
Effective dangerization solution processing methods can be just found after detection, could only be endangered and be reduced to most after strict processing
It is low.
Dangerization solution sampling need to extract solution on a small quantity using advanced ways and means when detecting, carry out composition and content point
Analysis.From the point of view of published record and data, most of dangerization solution extraction uses the mode based on vacsorb and built
Fixed dangerization solution extraction device, the device mainly by vavuum pump, suction pipe, controlling switch and shooting is first-class constitutes, with
Dangerization solution processing equipment is fixed on somewhere together, and the extraction of dangerization solution, such device are completed in artificial presence
Consider almost not extract the measure of control using accurate for stability, so being difficult to the quantitative and random of dangerization solution
Sampling observation.Fixed automatic clamping device needs to use cooperatively with other dangerization solution detection devices, not only complicated, cost
Height, and can not with the automation equipment effective integration such as robot, it is flexible very poor, especially broken down or dangerization in device
In the case that solution component changes, dangerization solution clamp device can not just be used, and lack flexible and changeable danger solution gripping work
Tool.Meanwhile, current danger solution clamp device typically there are certain requirements to external environment condition, it is adaptable to general industrial environment,
It may not apply to more severe high-risk environment.A kind of danger solution clamp device for adapting to varying environment is so needed to assist
Dangerization solution is carried out to extract.The bottleneck that the problem of lacking flexible extraction means is lifted as restriction dangerization solution treatment effeciency.
In addition, many occasions do not have fixed dangerization solution extraction equipment, when the danger solution type of extraction is relatively more, away from
, it is necessary to which people enters manual operations in different environment even high-risk environment when more severe from distant, working environment, occur
（1）People is in operation in adverse circumstances the long period, is vulnerable to injury；（2）Dangerization solution taken amount is forbidden, and operating efficiency is relatively low；
（3）The problems such as unnecessary dangerization solution is not disposable.These problems had a strong impact on dangerization solution detection treatment effeciency and
The security of people.
Utility model content
To overcome the problem above that prior art is present, the utility model provides a kind of pneumatic multi-jaw chuck device, into
For effective part of mobile robot, dangerization solution is extracted under high-risk environment integrated level, flexible and high workload are improved
Efficiency.
The utility model is realized by following technical scheme：
A kind of pneumatic multi-jaw chuck device, including body, claw and pressure sensor；The body interior has gas circuit,
Body exterior is provided with pneumatic connector and claw guide groove, and the pressure sensor is installed on the inside of claw.
Further, in addition to pneumatic means, the body is connected by pneumatic connector with pneumatic means.
Further, the claw uses corrosion-resistant stainless steel material, and the polyion fabric of its inner side laying radiation proof is soft
Property material protection pressure sensor.
Further, in addition to chuck body, the end of the body is provided with adpting flange, for jockey sheet
Body.
Further, in addition to multi-joint mechanical arm PLC, the multi-joint mechanical arm PLC with it is pneumatic
Device is connected.
Further, in addition to data conversion device, the pressure sensor passes through data conversion device and multi-joint machine
Tool arm PLC is connected.
Compared with prior art, the beneficial effects of the utility model are as follows：
Using speed control valve and pressure-control valve as core design pneumatic means, provide dynamic for the gripping operation of dangerization solution
Power, by the force feedback of the force snesor on the inside of claw, coordinates the control that pneumatic means carries out gas flow and speed, so that
Pneumatic means overall structure economy simply, quickly and easily provides power for structure below.
Using three-jaw structure design gripping body, self-centering is completed under the coordination control of pneumatic means, so that firmly steady
Surely gripped, also make that chuck body compact conformation, size be smaller, lighter weight, be easy to and the automation equipment such as robot
It is integrated.
By the way that pressure sensor is arranged on the inside of claw, protected by flexible material, be easy to take the flexible gripping of liquid measure cup
Operation, it is then integrated with the PLC of outside, grasp force when taking liquid measure glass that crawl holds dangerization solution can be monitored in real time,
Ensure the controllable of crawl process.
The important components such as claw use corrosion-resistant stainless steel material, and etch-proof sheet lead material is laid in outside, while using
Polyion textile flexibility material protection pressure sensor, makes Pneumatic clamping device be environmentally isolated with external radiation, it is ensured that its compared with
For normal time steady operation under severe high-risk environment.
Brief description of the drawings
Fig. 1 is System Working Principle figure of the present utility model.
Fig. 2 is the block diagram of system of the present utility model.
Fig. 3 is mobile robot structure chart of the present utility model.
Fig. 4 is mobile-robot system control structure figure of the present utility model.
Fig. 5 is control instruction of the present utility model and transmittance process network diagramming.
Fig. 6 is wireless telecommunication system network topological diagram of the present utility model.
Fig. 7 is supervisory control desk system hardware and software frame diagram of the present utility model.
Fig. 8 is the supervisory control desk software and hardware network architecture of the present utility model.
Fig. 9 is supervisory control desk shape assumption diagram of the present utility model.
Figure 10 is moving cart system module block diagram of the present utility model.
Figure 11 is moving cart body interior structure chart of the present utility model.
Figure 12 is multi-joint mechanical arm system module block diagram of the present utility model.
Figure 13 is chucking appliance system structure chart of the present utility model.
Figure 14 is chucking appliance system module frame chart of the present utility model.
Figure 15 is pneumatic scroll chuck structure chart of the present utility model.
Figure 16 takes liquid container bulk junction composition to be of the present utility model.
Figure 17 is the utility model quantitative liquid getting pneumatic means figure.
Embodiment
The utility model is further illustrated below in conjunction with the drawings and specific embodiments.
According to the characteristics of dangerization solution and automatic ration extract flow, it is considered to the reliable reality of processing safety and function
It is existing, design dangerization solution automatic ration extraction system, operation principle such as Fig. 1 institutes under a kind of high-risk environment based on mobile robot
Show.The overall thought separated using controlling organization and executing agency, mobile-robot system is placed on high-risk as executing agency
Environmental interior, supervisory control desk is placed on outside high-risk environment as controlling organization, and being not only adapted to general solution, quantitatively extraction will at random
Ask, be further adapted for that radioactivity is high, chemical composition is uncertain, the danger solution that variety type is more, safety requirements is high is quantitatively extracted at random
It is required that scene, with good flexibility.
As shown in Figure 2：The system includes supervisory control desk system, wireless communication data Transmission system, moving cart system, many
Articulated mechanical arm system, multi-functional clamp system, vision ultrasonic wave detecting system, dangerization solution storage system and power-supply system
Deng.Wherein, moving cart system, multi-joint mechanical arm system, multi-functional clamp system, dangerization solution storage system and vision
Ultrasonic wave detecting system constitutes mobile-robot system.
As shown in Figure 3：The mobile robot includes moving cart system, multi-joint mechanical arm system, chucking appliance system, regarded
Feel ultrasonic wave detecting system and dangerization solution storage system, and multi-joint mechanical arm system, chucking appliance system, vision ultrasound examination
System, dangerization solution storage system are arranged in moving cart system；The supervisory control desk system is based on communication network with moving
Dynamic cart system communication connection, and each system status parameters in mobile robot are obtained by moving cart system, send simultaneously
Liquid information and movement instruction is taken to give moving cart system；The moving cart system receives and forwards what supervisory control desk system was sent
Liquid information and movement instruction are taken, realizes that mobile robot gathers and placed the movement on circuit in dangerization solution；The movement is small
Car system is connected with multi-joint mechanical arm system and dangerization solution storage system respectively, the multi-joint mechanical arm system and fixture
System is connected, and the video ultrasound ripple detecting system is realized by communication network and communicated to connect with supervisory control desk system.
Fig. 4 be mobile robot system architecture control figure, supervisory control desk system as instruction send and real time data at
Reason center, by communication module in real time with the main system, vision ultrasound examination such as moving cart system, multi-joint mechanical arm system
The accessory systems such as system, multi-functional clamp system and dangerization solution storage system are connected, and are constituted and are moved under high-risk environment
Robot control system.
Specifically, supervisory control desk system is connected by wired with wireless mixing LAN with wireless communication module, wirelessly
Communication module is connected by Ethernet interface with the PLC of moving cart system.Moving cart system and multi-joint machinery
Arm system uses master-slave control mode, the i.e. PLC of moving cart system as main website, multi-joint mechanical arm system
PLC is as slave station, and both are connected by Prifibus DP module interfaces, for performing mobile and operation behavior, and many
Articulated mechanical arm pedestal is arranged on moving cart top nose.Dangerization solution storage system is arranged on moving cart top rear,
Its measuring cup weight sensor and pneumostop lid magnetic valve are integrated by O/I modules with moving cart PLC, are used
In storage and the carrying safely of dangerization solution.Multi-functional clamp system is arranged on mechanical arm tail end, its detection sensor, pneumatic system
Magnetic valve etc. is integrated by O/I modules with mechanical arm controller, is quantitatively extracted and is gripped for dangerization solution.It is arranged on
Power-supply system inside moving cart is the energy needed for main system and accessory system offer movement, operation, detection, by wireless charging
The part of electric installation, Li-ion batteries piles and power management module etc. three is constituted, and wherein power management module is by MCU micro-control lists
Member, PMIC power management integrated circuits and various sensor groups into power control.
Fig. 5 is control instruction of the present utility model and transmittance process network diagramming, and system control instruction and transmittance process are described
For supervisory control desk sends dangerization solution extracting parameter through radio transmitting device by instruction input and sending module and believed during work
Number, action command signal is to moving cart system, vision ultrasonic wave detecting system and power-supply system, three digest journals and its auxiliary
Started working after System self-test is errorless.Moving cart is moved according to instruction, is completed sending action after assignment of mission and is instructed to many passes
Mechanical arm is saved, mechanical arm is carried out corresponding dangerization solution and extracts and grasping manipulation, dangerization solution is deposited while mechanical arm is acted
Storage system works according to the control instruction cooperative mechanical arm of moving cart.In addition, vision ultrasonic wave detecting system is by collection in worksite
To video information and ultrasonic data acquisition information return to master station.Power-supply system is powered to subsystems, and electricity
Pond feedback of status gives master control platform.
Fig. 6 is wireless telecommunication system network topological diagram, inside and outside high-risk environment, builds and is based on IEEE 802.11b/g/a/h
The WIFI wireless networks of communications protocol, by WIFI wireless networks be data medium, connection supervisory control desk, moving cart system,
Multi-joint mechanical arm system, vision ultrasonic wave detecting system etc., constitute control data, video data, the state under high-risk environment
Effective passage of the transmission such as data.
Communication system is mainly made up of wireless aps, wireless data transceiving device, LAN etc., and wherein LAN is to be based on
The Ethernet that IEEE802.3 communications protocol is built, supervisory control desk is directly connected to LAN by wired mode；Wireless aps and nothing
Line data transmitter-receiver set is addressable device, and wireless aps are directly connected to LAN, wireless communication apparatus one by wired mode
End is connected with moving cart system, vision ultrasonic wave detecting system, power-supply system etc. by Ethernet interface, and the other end passes through
WIFI network and AP wireless connections, so as to realize control data, video data, the high-speed transfer of status data.
Fig. 7 is supervisory control desk system hardware and software frame diagram of the present utility model, and supervisory control desk is calculated by display, master control
The hardware such as machine, real-time communication server, data server, video server, network communication module and monitoring application system, backstage
The software sharings such as database, service software.It is wired with it is wireless mix LAN by way of with moving cart system, multi-joint
The real-time communications such as mechanical arm system, dangerization solution storage system, vision ultrasonic wave detecting system, obtain its state parameter, simultaneously
Transmission takes liquid information and movement instruction to modules, realizes the Remote of mobile robot.
Monitor application system to develop based on windows platform, on main control computer, with basic data maintenance mould
Block, take liquid information input and instruction sending module, mobile work robot monitoring module, vision ultrasonic wave monitoring module,
The big module of security protection alarm module and real-time data communication module etc. six.
Fig. 8 is the software and hardware network architecture of supervisory control desk system, main control computer, data server, video server etc.
Connected in the form of bus over ethernet, by network communication module, main control computer and each server real-time communication, just
Data query and processing are carried out in monitoring software.Real-time communication server is installed above Communications service software, in time crawl master
The instruction that control computer is assigned is to subsystems, while the status data and sensing data of subsystems feedback are captured, and
It is stored on data server and video server.Installation relation type database, number is provided for monitoring software on data server
According to storage support, real-time storage operations data, feedback data, basis safeguard that data, safe operation status data, transmission refer to
Make historical data etc..Video information and the ultrasonic height detection that video server real-time storage vision ultrasonic system is collected
Information.
Fig. 9 is a kind of shape assumption diagram of supervisory control desk of the present utility model, and outward appearance is designed using ergonomics thought,
It is made up of two displays, an operating desk and master control platform housing, two of which display one is used for visual control, one
It is individual to be sent and received for control instruction；Master control platform housing is made up of stainless steel material, and 1 millimeters thick sheet lead is laid on surface, is risen anti-
Radiation, corrosion-resistant effect.
Figure 10 be moving cart system module block diagram of the present utility model, moving cart system as whole system movement
Device, including five major parts such as basic machine, control module, drive module, navigation module, communication module.The movement
Cart system includes basic machine, control module, drive module, navigation module and communication module；The basic machine is used to carry
For the physical arrangement of moveable robot movement；The control module is connected by communication module with supervisory control desk system, the control
Molding block is connected by drive module with basic machine；The navigation module is connected with control module.
Figure 11 is moving cart system ontology cut-away view of the present utility model, moving cart basic machine, by dolly
Body, steering mechanism and sensing element composition, wherein trolley body is in rectangular shape, and vehicle body frame uses aluminium alloy type
Material, laid outside totally-enclosed radiation protection processing, car body the thick sheet leads of 1 ~ 2mm as shielding material；Car top is main
There is the multi-joint mechanical arm mounting hole for four screwed holes that are uniformly distributed along the circumference bearing part, forward position, and being bolted makes shifting
The base fixing plate of dynamic dolly and multi-joint mechanical arm connects together；There is dangerization solution storage device peace position to car body top rearward
Seat is filled, is rigidly connected by bolt with the mounting seat in dangerization solution storage device；Car body the right and left bottom is distributed with two pairs
Symmetrical four McCrum wheels, constitute the movable part of dolly；Car body directly to the right is disposed with signal transmitting and receiving antenna, signal transmitting and receiving
The wireless communication apparatus connection of antenna and car interior, constitutes the wireless communication module of dolly.
Car interior, according to the principle of reasonable utilization space, is three layers of mounting structure, logic connecting relation is referring to " moving machine
Device people's System control structures figure ", first layer is upper strata, predominantly the control unit of multi-joint mechanical arm, wireless communication apparatus and
Vision ultrasonic treatment unit, the control unit of specific multi-joint mechanical arm includes 1 multi-joint mechanical arm controller, 1 fortune
The servo-driver of dynamic control module, 4 joint of mechanical arm, wireless communication apparatus is 1 set of wireless telecommunications based on wireless WIFI
Device, vision ultrasonic treatment unit is 1 set of position detecting device based on CCD camera and ultrasonic wave；The second layer is intermediate layer,
The predominantly control unit of moving cart, pneumatic system, the control unit of specific moving cart include 1 moving cart control
Device, 1 motion-control module, the servo-driver of 4 moving cart wheels, pneumatic system include 1 set dangerization solution and stored to fill
Put pneumatic means, 1 set of multi-functional clamp device Tridactyle pneumatic fixture pneumatic means, 1 set of multi-functional clamp device quantitative liquid getting dress
The pneumatic means put；Third layer is bottom, and the supply unit of power is provided for each device, specifically have one group of lithium battery string and
1 electric power controller.The angular direction of dolly bottom four is disposed with 4 McCrum wheel servomotors and motor reducer, centre
Location arrangements have the navigation sensor and landmark sensor of a set of magnetic induction navigation, a wireless charging receiver.
Moving cart steering mechanism carries out moving of car control by the way of the four motorized wheels based on McCrum wheel
System.McCrum wheel is made up of two wheel hubs and a number of pony roll, using two ends supporting construction, small roller axis and wheel
Hub axis angle is ± 45 °, and both materials use corrosion-resistant radiation proof material.Two left-handed spiral configurations in four McCrum wheels
With two right-handed spiral configurations, moving cart car body the right and left is arranged in the way of two left two right four-wheels are arranged symmetrically；Each wheat
Carat nurse wheel and a DC servo motor and motor reducer are direct-connected, pass through the speed control different to four wheels, realize
The motion of dolly different directions.
Control module：Including PLC and motion-control module, moving cart adds motion control using PLC
The modes such as module carry out motion control, and wherein PLC is mainly responsible for communicating with supervisory control desk, received in time by WIFI communication mode
Control instruction and feedback trolley travelling status data that supervisory control desk is sent；Motion-control module is responsible for performing the letter that PLC is received
Number instruction, to moving cart feed back navigation signal, position signalling carry out in real time handle and calculate, output control signal is to direct current
Servo-driver.In addition, the Open Control pattern that moving cart is integrally combined using host computer with slave computer, wherein host computer
For supervisory control desk system, slave computer is the PLC of moving cart system.
Drive module：Moving cart driving uses DC servo motor driver and DC servo motor, DC servo electricity
Machine driver one end is connected with the motion-control module in moving cart PLC, and one end is connected with DC servo motor.
The motion-control module of PLC sends digital quantity high-speed pulse signal to servo-driver, and servo-driver uses position
The signal that control model is fed back according to control signal and servomotor produces the pwm signal of impulse form, through power amplification rear-guard
Dynamic servomotor, the pulse and direction signal that servomotor is sent according to servo-driver is started, stopped, being inverted and become
Speed etc. is acted.
Navigation module：The module is made up of Magnetic Sensor with the magnetic stripe for being laid on ground, and wherein Magnetic Sensor is divided into magnetic conductance
Sensor and magnetic landmark sensor, magnetic stripe are divided into guiding magnetic stripe and terrestrial reference magnetic stripe.Magnetic induction is not high to the susceptibility of high-risk environment,
Therefore the navigation module of moving cart is designed by the way of magnetic stripe navigation, the forward position in dolly bottom is provided with magnetic navigation sensor
And landmark sensor, for detecting guiding magnetic stripe and terrestrial reference magnetic stripe in the predetermined laying in ground.When moving cart is run, magnetic navigation
Sensor vertical certain distance above magnetic stripe, gathers the magnetic field intensity of magnetic stripe, judges that magnetic stripe is inclined relative to magnetic navigation sensor
Off normal and put, accordingly moving cart adjust automatically, it is ensured that moved ahead along magnetic stripe.Landmark sensor constantly reads terrestrial reference magnetic stripe, and accordingly
Judge run location and change running status.Terrestrial reference magnetic stripe is attached to the ground beside navigation magnetic stripe perpendicular to navigation magnetic stripe direction
On.
Communication module：It is made up of wireless communication apparatus and signal transmitting and receiving antenna, wherein wireless communication apparatus is wireless data
R-T unit, installed in first layer inside moving cart, signal transmitting and receiving antenna is arranged on right side outside moving cart.Wireless telecommunications
Module one end uses WLAN standard agreement IEEE 802.11b/g/a/h, is connected with supervisory control desk real-time radio, in time
Obtain master control platform send take liquid instruct and movement instruction, while by the state of moving cart and interconnected system notify at once to
Master control platform.The wireless communication module other end is connected with moving cart PLC by Ethernet interface, in time sends master control platform
Take liquid instruction and movement instruction pass to moving cart PLC, while the moving cart PLC feedback signals received are passed to always
Console.
Figure 12 is multi-joint mechanical arm system module block diagram of the present utility model, and the multi-joint mechanical arm system is basis
High-risk environment dangerization solution quantitatively extracts one of feature design and integrates machinery, control, electric open chain link-type and directly
Angular coordinate formula mixed type articulated robot, working range farthest reaches 2 meters, is arranged on by bolt at the top of moving cart, with shifting
Dynamic dolly cooperation completes the work such as dangerization solution lifts, dangerization solution is transported, dangerization solution is placed.Mainly include basic machine,
Servo-drive and motion control portion.
Basic machine is made up of execution unit, mechanical arm body, sensing element.Execution unit by servomotor, decelerator,
The part such as bearing and bearing block is constituted.The ginsengs such as angle, rotating speed, electric current, voltage of the sensing element to detect each axle servomotor
Several sensors.Mechanical arm body is made up of pedestal, base, large arm, forearm and end telescopic shaft, has four frees degree,
It is revolute pair wherein between pedestal and base, base and large arm, large arm and forearm, is mobile between forearm and end telescopic shaft
Angle remains 90 ° between pair, and forearm and end telescopic shaft.
Mechanical arm pedestal use square-section hollow aluminum casting, the DC servo drive motor of internal mounting seat,
The parts such as decelerator, bearing and bearing block, base bottom is a fixed plate with four screwed holes that are uniformly distributed along the circumference, this
Fixed plate is rigidly connected with the multi-joint arm mounting hole in moving cart by bolt.Base is used in circular cross-section
Empty aluminum casting, inside is provided with the parts such as DC servo drive motor, decelerator, bearing and the bearing block of large arm.Greatly
Arm uses the hollow and thin-walled aluminum casting of circular cross-section, and inside is provided with DC servo drive motor, decelerator, the bearing of forearm
And the parts such as bearing block.Forearm uses the solid aluminum casting of circular cross-section, and end is provided with the execution of end telescopic shaft
The parts such as part, i.e. servomotor, timing belt, nuts ball leading screw.End telescopic shaft is by servomotor, timing belt, nut
Ball-screw and end effector composition, inside ball-screw kinematic pair by the way of nut driving, make feed screw nut exist
The synchronized band driving of DC servo motor is lower to produce rotary motion, so as to drive the linear motion of leading screw progress vertical direction.
Sheet lead is laid on each axle of basic machine and servomotor surface, is placed on outside moving cart；Control section and
Servo-drive is partially disposed in inside moving cart, mitigates the influence of radiation.
As shown in Figure 13-Figure 16, the multi-functional clamp device is one and collects quantitative liquid getting and gripping carrying function in one
Electricity, the gas control device of body, multi-joint mechanical arm end, outward appearance and internal structure such as Figure 13 institutes are rigidly attached at by bolt
Show.The chuck body front is in octagon, is divided into symmetrical two halves, the plane of symmetry is with the horizontal 45 ° of angles.In chuck body
Portion is connected to the shaft end of multi-joint mechanical arm the 4th by flange, and a three-jaw self-centering chuck is installed in bottom in the horizontal direction
Device, installs a quantitative liquid taking device in vertical direction.The tumbler is solid by rotary cylinder, cylinder piston, cylinder
Determine the composition such as part, silencer, position sensor, rotary cylinder is arranged in the chuck body first half by cylinder fixture, gas
Cylinder piston is fixedly linked with chuck body lower half, and power is provided by rotary cylinder during work, and by cylinder, 180 ° rotate realization
Relatively rotated between chuck body two halves, so as to realize that the instrument of scroll chuck device and quantitative liquid taking device is changed.Position is passed
Sensor is used for detecting whether cylinder piston have rotated 180 ° of positions, and information transmission will be controlled in place to multi-joint mechanical arm PLC
Device.The pneumatic scroll chuck device, is the cylindrical jaw arrangement of pneumatic self-centering three, by body, 3 claws, 3 pressure sensings
Device, a set of pneumatic means composition.Scroll chuck is threaded on octagon chuck body one side by I-shaped flange, non-work
Make that scroll chuck axis during state is parallel to the ground, scroll chuck axis is perpendicular to the ground during working condition.The quantitative liquid getting
Device, including one take liquid container body, a set of detection sensing device, a set of pneumatic means.
It is a cylindric Corrosion Resistant Frp container to take liquid container body, and body left upper portion has a pneumatic system company
Sensing device is detected for liquid level position on the right side of interface, body, body interior is moved piston and is divided into upper and lower vessel.Upper container
Room is gas compartment, and two spring fixed end and a compression spring are installed in the inside, it is ensured that the stable effective work of gas compartment.Under
Vessel is liquid chamber, the danger solution for holding extraction.It is mobile piston in the middle of body, sealing ring is placed at piston two,
Sealing ring can effectively ensure that the cut-off of gas compartment and liquid chamber.
Multi-functional clamp device include a chuck body, a tumbler, a pneumatic scroll chuck device and
One quantitative liquid taking device.
Multi-functional clamp device is controlled by mechanical arm PLC, and action process is described as multi-joint mechanical arm PLC controls
Device receives taking liquid to instruct or capturing instruction for moving cart PLC transmission, if taking liquid to instruct, then multi-joint mechanical arm
Controller control tumbler goes to quantitative liquid taking device position straight down, then controls the pneumatic electricity of quantitative liquid taking device
Magnet valve is opened, then dangerization solution progresses into quantitative liquid taking device.At the same time, the gas flow letter in quantitative liquid taking device
Breath, pressure information, dangerization solution height information, to multi-joint mechanical arm controller, are reached and set by respective sensor rapid feedback
Stopping is acted after quantitative.If crawl instruction, then multi-joint mechanical arm controller control tumbler turns scroll chuck device
To position straight down, then control scroll chuck air-operated solenoid valve to open, realize opening and tightening up for scroll chuck, reach and grab
The purpose taken, at the same time, the clip pressure force information in scroll chuck device pass through respective sensor rapid feedback to many passes
The mechanical arm controller of section, coordinates with air-operated solenoid valve, realizes the accurate control of grasp force.
Scroll chuck pneumatic means includes one 35 logical digital electric magnet valves, two bidirectional speed control valves, a pressures
Force control valve and pipeline.Gas circuit annexation is that one first gas circuit is connected by pipeline with pressure-control valve, then with electromagnetism
Valve is connected, and is divided into two gas circuits, then two gas circuit pipelines are connected with two bidirectional speed control valves, last two pipelines and sheet
Pneumatic connector on body is connected.Wherein digital electric magnet valve is connected with the PLC of multi-joint mechanical arm, passes through multi-joint
The PLC control digital electric magnet valve of mechanical arm, and then the break-make of whole piece gas circuit is controlled, claw is realized while tightening up and opening
The function of opening.Pneumatic means is arranged on moving cart inner second layer.
As shown in figure 17, detection sensing device is a set of liquid level position detection sensor, in strip, is pasted onto and takes liquid to hold
On the right side of device body, for detecting the elevation information of liquid level during Liquid extracting, many passes are passed to after data processing and conversion
Save the PLC of mechanical arm.Liquid level position detection sensor is by bonding agent, solid capacitor component, data converting circuit etc.
The liquid level sensor of composition, solid capacitor component is necessarily combined by N group solid-states alminium electrolytic condenser warp, can be according to liquid level
Height change occur capacitance size change, then through data converting circuit by capacitance size change be converted into digital quantity, so as to realize
The real-time monitoring of liquid level.Solid capacitor component is pasted onto by bonding agent to be taken on the right side of liquid container body, and one layer of corrosion resistant is laid in outside
Lose the sheet lead material of radiation proof.
Quantitative liquid getting pneumatic means include one 33 logical digital electric magnet valves, vacuum generator component, one it is double
To speed control valve, a flow sensor, a baroceptor and pipeline, wherein 33 logical digital electric magnet valves have two
Individual gas outlet, vacuum generator component has an air inlet, a gas outlet.The connected mode of pneumatic means be magnetic valve wherein
One gas outlet is connected with the air inlet of vacuum generator component, another gas outlet and the gas outlet phase of vacuum generator component
Even, while the gas outlet of vacuum generator component is connected with speed control valve, gas flow rate in one monitoring gas circuit of centre connection
Flow sensor, speed control valve take liquid container body be connected, centre connection one monitoring airline pressure baroceptor.
Pneumatic means has a gas source air inlet and a gas outlet, gas source air inlet connection external air source, gas outlet and quantitative liquid getting
Liquid container body is taken to be connected in device, the control end of the digital electric magnet valve in pneumatic means and the PLC of multi-joint mechanical arm
Controller is connected, and realizes that the PLC of multi-joint mechanical arm controls the break-make of pneumatic means gas circuit.The working method of pneumatic means is gas
Source produces malleation or negative pressure when flowing through vacuum generator component through magnetic valve, makes to take the pressure in liquid container bulk gas room to be more than
Or less than the pressure in liquid chamber, piston is moved downward or upward under pressure differential effect, realizes accurate extraction and the row of liquid
Go out.Pneumatic means is arranged on moving cart inner second layer.
Description for the understanding of embodiment is only to understand the utility model for help, rather than for limiting
It is of the present utility model.Those skilled in the art can be carried out some using thought of the present utility model and change and change, as long as
Its technological means is without departing from thought of the present utility model and main points, still within protection domain of the present utility model.
Claims (6)
1. a kind of pneumatic multi-jaw chuck device, it is characterised in that：Including body, claw and pressure sensor；In the body
There is gas circuit in portion, and body exterior is provided with pneumatic connector and claw guide groove, and the pressure sensor is installed on the inside of claw.
2. a kind of pneumatic multi-jaw chuck device according to claim 1, it is characterised in that：Also include pneumatic means, it is described
Body is connected by pneumatic connector with pneumatic means.
3. a kind of pneumatic multi-jaw chuck device according to claim 1, it is characterised in that：The claw uses stainless steel
Material, above studs with anti-skidding acid and alkali-resistance flexible material.
4. a kind of pneumatic multi-jaw chuck device according to claim 1, it is characterised in that：Also include chuck body, it is described
The end of body is provided with adpting flange, for jockey body.
5. a kind of pneumatic multi-jaw chuck device according to claim 2, it is characterised in that：Also include multi-joint mechanical arm
PLC, the multi-joint mechanical arm PLC is connected with pneumatic means.
6. a kind of pneumatic multi-jaw chuck device according to claim 5, it is characterised in that：Also include data conversion device,
The pressure sensor is connected by data conversion device with multi-joint mechanical arm PLC.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720123378.XU CN206493309U (en) | 2017-02-10 | 2017-02-10 | A kind of pneumatic multi-jaw chuck device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720123378.XU CN206493309U (en) | 2017-02-10 | 2017-02-10 | A kind of pneumatic multi-jaw chuck device |
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| CN206493309U true CN206493309U (en) | 2017-09-15 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673553A (en) * | 2018-08-02 | 2018-10-19 | 珠海格力智能装备有限公司 | Clamping mechanism and robot with same |
| CN108673551A (en) * | 2018-05-28 | 2018-10-19 | 安徽工程大学 | A kind of bionic mechanical hand |
| CN109239201A (en) * | 2018-09-04 | 2019-01-18 | 长沙理工大学 | A kind of Portable Automatic clamping device for non-linear ultrasonic detection |
| CN109727691A (en) * | 2018-12-25 | 2019-05-07 | 中核北方核燃料元件有限公司 | A kind of C&P systems clamping rotating mechanism |
| CN109969285A (en) * | 2019-03-07 | 2019-07-05 | 哈尔滨工业大学 | Universal submissive sense with power of robot fluid is slapped |
| CN112621799A (en) * | 2020-12-28 | 2021-04-09 | 南京农业大学 | Robot gripper |
| CN114043518A (en) * | 2021-11-16 | 2022-02-15 | 南通茂业电子科技有限公司 | Mechanical arm assembly with gripping capability detection function |
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2017
- 2017-02-10 CN CN201720123378.XU patent/CN206493309U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108673551A (en) * | 2018-05-28 | 2018-10-19 | 安徽工程大学 | A kind of bionic mechanical hand |
| CN108673553A (en) * | 2018-08-02 | 2018-10-19 | 珠海格力智能装备有限公司 | Clamping mechanism and robot with same |
| CN109239201A (en) * | 2018-09-04 | 2019-01-18 | 长沙理工大学 | A kind of Portable Automatic clamping device for non-linear ultrasonic detection |
| CN109727691A (en) * | 2018-12-25 | 2019-05-07 | 中核北方核燃料元件有限公司 | A kind of C&P systems clamping rotating mechanism |
| CN109969285A (en) * | 2019-03-07 | 2019-07-05 | 哈尔滨工业大学 | Universal submissive sense with power of robot fluid is slapped |
| CN112621799A (en) * | 2020-12-28 | 2021-04-09 | 南京农业大学 | Robot gripper |
| CN114043518A (en) * | 2021-11-16 | 2022-02-15 | 南通茂业电子科技有限公司 | Mechanical arm assembly with gripping capability detection function |
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Effective date of registration: 20171225 Address after: 610000 West Core Avenue, Chengdu hi tech Zone (West District), Sichuan Province, No. 18 Patentee after: Dongfang Electric Chengdu Intelligent Technology Co., Ltd. Address before: Jinniu District Chengdu City, Sichuan province 610000 Shu Road No. 333 Patentee before: Dongfang Electric Corporation |
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Address after: 610218 east section of Ningbo Road, Zhengxing street, Tianfu New District, Chengdu, China (Sichuan) pilot Free Trade Zone, Chengdu Patentee after: Dongfang Electric Group Research Institute of science and Technology Co., Ltd Address before: 610000 No. 18 West core road, hi tech Zone, Chengdu, Sichuan Patentee before: Dongfang Electric Chengdu Intelligent Technology Co., Ltd. |
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