CN208681585U - Manipulator with gas storage space - Google Patents
Manipulator with gas storage space Download PDFInfo
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- CN208681585U CN208681585U CN201821476793.4U CN201821476793U CN208681585U CN 208681585 U CN208681585 U CN 208681585U CN 201821476793 U CN201821476793 U CN 201821476793U CN 208681585 U CN208681585 U CN 208681585U
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- retainer
- mechanical arm
- storage space
- gas storage
- pedestal
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Abstract
The utility model provides a kind of manipulator with gas storage space, comprising: pedestal, retainer and end mechanical arm；The first end of retainer is movably attached to pedestal and pedestal can control retainer and move along vertical direction；The second end of retainer is flexibly connected end mechanical arm and retainer can control end mechanical arm and rotate in horizontal plane along the second end of retainer；End effector is installed on the end mechanical arm, gas storage space is installed in the inside of retainer and/or end mechanical arm, the gas storage space can provide positive air pressure and/or negative pressure for the end effector.Since gas storage space is mounted on the inside of retainer and/or end mechanical arm, so as to save space.It is also convenient for moving the manipulator.
Description
Technical field
The utility model relates to industrial production automation technical field more particularly to a kind of machinery with gas storage space
Hand.
Background technique
With the development of society and advancement of technology, robot manipulator structure obtains more and more extensive answer in the industrial production
With for example, transporting goods commonly using robot manipulator structure realization.It is usually mounted in the end of the manipulator for transporting goods
End effector, end effector are divided to pneumatic and electronic two class, and pneumatic actuator is the most wide end effector of present purposes again.
Therefore, how to design it is a kind of for transporting goods, Pneumatic manipulator, just become a urgent problem to be solved.
Utility model content
The mesh of the utility model is to provide a kind of manipulator with gas storage space.
In order to realize that one of above-mentioned purpose of utility model, one embodiment of the utility model provide a kind of with gas storage space
Manipulator, comprising: pedestal, retainer and end mechanical arm；The first end of retainer is movably attached to pedestal and pedestal can
Control retainer moves along vertical direction；The second end of retainer is flexibly connected end mechanical arm and retainer can control
End mechanical arm is rotated in horizontal plane along the second end of retainer；End effector is installed on the end mechanical arm,
Gas storage space is installed in the inside of retainer and/or end mechanical arm, the gas storage space can be the end effector
Positive air pressure and/or negative pressure are provided.
As the further improvement of one embodiment of the utility model, the retainer includes: the first retainer, the second biography
Dynamic seat and third retainer；The first end of first retainer is movably attached to pedestal and pedestal can control the first retainer edge
Vertical direction movement；The second end of first retainer is flexibly connected the first end of the second retainer and the first retainer can
The second retainer is controlled to rotate in horizontal plane along the second end of the first retainer；The second end of second retainer is flexibly connected the
The first end of three retainers and the second retainer can control second end of the third retainer in horizontal plane along the second retainer
Rotation；The second end of third retainer is flexibly connected end mechanical arm and third retainer can control end mechanical arm in water
Plane is rotated along the second end of third retainer.
As the further improvement of one embodiment of the utility model, all it is arranged in the first retainer and end mechanical arm
There is gas storage space.
As the further improvement of one embodiment of the utility model, it is provided in the first retainer and is capable of providing healthy tendency
The gas storage space of pressure is both provided with the gas storage space for being capable of providing negative pressure in the mechanical arm of end.
As the further improvement of one embodiment of the utility model, it is provided with and is capable of providing angrily in the first retainer
The gas storage space of pressure is both provided with the gas storage space for being capable of providing positive air pressure in the mechanical arm of end.
As the further improvement of one embodiment of the utility model, the end effector is vacuum sucking device or gas
Cylinder class actuator.
As the further improvement of one embodiment of the utility model, being provided in the base can be the gas storage space
Several compression pumps of gas source are provided.
As the further improvement of one embodiment of the utility model, several compression pumps be capable of providing positive air pressure and/
Or negative pressure.
Compared with the existing technology, the utility model has the technical effect that the utility model embodiment provides a kind of band
There is the manipulator of gas storage space, comprising: pedestal, retainer and end mechanical arm；The first end of retainer be movably attached to pedestal,
And pedestal can control retainer and move along vertical direction；The second end of retainer is flexibly connected end mechanical arm and is driven
Seat can control end mechanical arm and rotate in horizontal plane along the second end of retainer；End is installed on the end mechanical arm
Actuator is held, gas storage space is installed in the inside of retainer and/or end mechanical arm, the gas storage space can be the end
Actuator is held to provide positive air pressure and/or negative pressure.Since gas storage space is mounted on the inside of retainer and/or end mechanical arm,
So as to save space.It is also convenient for moving the manipulator.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the manipulator provided by the embodiment of the utility model with gas storage space.
Specific embodiment
The utility model is described in detail below with reference to each embodiment shown in the drawings.But these embodiments
It is not intended to limit the utility model, structure, method or the function that those skilled in the art are made according to these embodiments
Transformation on energy is all contained in the protection scope of the utility model.
The term of the representation space relative position used herein such as "upper", " top ", "lower", " lower section " is for just
A unit as shown in the drawings or feature are described relative to another unit or the relationship of feature in the purpose of explanation.It is empty
Between the term of relative position can be intended to include different direction of the equipment in use or work other than orientation as shown in the figure.
For example, the unit for being described as being located at other units or feature " below " or " under " will if the equipment in figure overturn
Positioned at other units or feature " top ".Therefore, exemplary term " lower section " can include above and below both orientation.If
It is standby to be otherwise directed (be rotated by 90 ° or other directions), and be interpreted accordingly used herein with space correlation
Language is described.
The utility model embodiment provides a kind of manipulator with gas storage space, comprising: pedestal 3, retainer 1 and end
Hold mechanical arm 2；The first end of retainer 1 is movably attached to pedestal 3 and pedestal 3 can control retainer 1 and transport along vertical direction
It is dynamic；The second end of retainer 1 is flexibly connected end mechanical arm 2 and retainer 1 can control end mechanical arm 2 on horizontal plane edge
Retainer 1 second end rotation；
End effector is installed on the end mechanical arm 2, is pacified in the inside of retainer 1 and/or end mechanical arm 2
Equipped with gas storage space, the gas storage space can provide positive air pressure and/or negative pressure for the end effector.
The utility model embodiment provides a kind of manipulator, and in the manipulator, pedestal 3 can control retainer 1 and do
The movement of vertical direction, i.e. pedestal 3 can control retainer 1 and end mechanical arm 2 does the movement of vertical direction, and retainer
1 can control the rotation that end mechanical arm 2 does horizontal direction along retainer 1, so that end mechanical arm 2 can be in level
In-plane moving, so that the manipulator can move in three-dimensional planar, so that the flexibility of the manipulator is greatly improved, by
In being equipped with the gas storage space for being capable of providing positive air pressure and/or negative pressure in retainer 1 and/or end mechanical arm 2, so that
The object that end mechanical arm 2 tightly can adsorb residence and carry.And since gas storage space is mounted on retainer 1 and/or end
The inside of mechanical arm 2 is held, so as to save space.
In the prior art, gas storage space is the shared infrastructure device of multiple equipment in factory, so gas storage space arrives
Connecting manipulator will arrange dedicated gas circuit, it is to be understood that when needing to move the manipulator, this unusual not side
Just, this problem is just not present in the manipulator and in the utility model embodiment.To be not only convenient for using and can be very big
Reduce cost.
Preferably, the retainer 1 includes: the first retainer 11, the second retainer 12 and third retainer 13；First passes
The first end of dynamic seat 11 is movably attached to pedestal 3 and pedestal 3 can control the first retainer 11 and move along vertical direction；The
The second end of one retainer 11 is flexibly connected the first end of the second retainer 12 and the first retainer 11 can control the second transmission
Seat 12 is rotated in horizontal plane along the second end of the first retainer 11；The second end of second retainer 12 is flexibly connected third transmission
Seat 13 first end and the second retainer 12 can control second of third retainer 13 in horizontal plane along the second retainer 3
End rotation；The second end of third retainer 13 is flexibly connected end mechanical arm 2 and third retainer 13 can control end machinery
Arm 2 is rotated in horizontal plane along the second end of third retainer 4.
Here, between the first retainer 11 and the second retainer 12, between the second retainer 12 and third retainer 13,
All be between third retainer 13 and end mechanical arm 2 it is rotary, can be with so as to form the structure for being similar to finger
Understand, which increase the flexibilities of the manipulator.
Preferably, gas storage space is both provided in the first retainer 11 and end mechanical arm 2.
Preferably, the gas storage space for being capable of providing positive air pressure is provided in the first retainer 11, in end mechanical arm 2
It is both provided with the gas storage space for being capable of providing negative pressure.
Preferably, the gas storage space for being capable of providing negative pressure is provided in the first retainer 11, in end mechanical arm 2
It is both provided with the gas storage space for being capable of providing positive air pressure.
Preferably, the end effector is vacuum sucking device or cylinder class actuator.
Preferably, several compression pumps of gas source can be provided for the gas storage space by being provided in pedestal 1.Here, may be used
To determine the quantity of compression pump according to actual needs, air pressure caused by the compression pump is stored in gas storage space, in gas storage
Pressure sensor can be set in space, so as to the air pressure of real-time monitoring gas tank, when in the gas tank that positive air pressure is provided just
When air pressure is less than or equal to preset minimum positive air pressure, compression pump is started to work, and when the positive air pressure in the gas tank for providing positive air pressure
More than or equal to preset maximum positive air pressure, compression pump stops working；When negative pressure is more than or equal in advance in the gas tank for providing negative pressure
If maximum negative pressure when, compression pump start to work, when provide negative pressure gas tank in negative pressure be less than or equal to it is preset most
When small negative pressure, compression pump stops working.
Preferably, several compression pumps are capable of providing positive air pressure and/or negative pressure.It here, in use, can basis
Actual demand allows whole compression pumps all to provide positive air pressure；Whole compression pumps can also be allowed all to provide negative pressure；Alternatively, part is pressed
Contracting pump all provides positive air pressure, and another part compression pump all provides negative pressure.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can for bright book
With the other embodiments of understanding.
Tool of the series of detailed descriptions listed above only for the feasible embodiment of the utility model
Body explanation, they are all without departing from made by the utility model skill spirit not to limit the protection scope of the utility model
Equivalent implementations or change should be included within the scope of protection of this utility model.
Claims (8)
1. a kind of manipulator with gas storage space characterized by comprising
Pedestal, retainer and end mechanical arm；
The first end of retainer is movably attached to pedestal and pedestal can control retainer and move along vertical direction；Retainer
Second end be flexibly connected end mechanical arm and retainer and can control second of end mechanical arm in horizontal plane along retainer
End rotation；
End effector is installed on the end mechanical arm, storage is installed in the inside of retainer and/or end mechanical arm
Headroom, the gas storage space can provide positive air pressure and/or negative pressure for the end effector.
2. manipulator according to claim 1, which is characterized in that
The retainer includes: the first retainer, the second retainer and third retainer；
The first end of first retainer is movably attached to pedestal and pedestal can control the first retainer and transport along vertical direction
It is dynamic；
The second end of first retainer is flexibly connected the first end of the second retainer and the first retainer can control the second transmission
Seat is rotated in horizontal plane along the second end of the first retainer；
The second end of second retainer is flexibly connected the first end of third retainer and the second retainer can control third transmission
Seat is rotated in horizontal plane along the second end of the second retainer；
The second end of third retainer is flexibly connected end mechanical arm and third retainer can control end mechanical arm in level
Face is rotated along the second end of third retainer.
3. manipulator according to claim 2, it is characterised in that:
Gas storage space is both provided in the first retainer and end mechanical arm.
4. manipulator according to claim 2, it is characterised in that:
The gas storage space for being capable of providing positive air pressure is provided in the first retainer, being both provided in the mechanical arm of end can mention
For the gas storage space of negative pressure.
5. manipulator according to claim 2, it is characterised in that:
The gas storage space for being capable of providing negative pressure is provided in the first retainer, being both provided in the mechanical arm of end can mention
For the gas storage space of positive air pressure.
6. manipulator according to claim 1, it is characterised in that:
The end effector is vacuum sucking device or cylinder class actuator.
7. manipulator according to claim 1, it is characterised in that:
Several compression pumps of gas source can be provided for the gas storage space by being provided in the base.
8. manipulator according to claim 7, it is characterised in that:
Several compression pumps are capable of providing positive air pressure and/or negative pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821476793.4U CN208681585U (en) | 2018-09-10 | 2018-09-10 | Manipulator with gas storage space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821476793.4U CN208681585U (en) | 2018-09-10 | 2018-09-10 | Manipulator with gas storage space |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208681585U true CN208681585U (en) | 2019-04-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821476793.4U Active CN208681585U (en) | 2018-09-10 | 2018-09-10 | Manipulator with gas storage space |
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|---|---|
| CN (1) | CN208681585U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108839005A (en) * | 2018-09-10 | 2018-11-20 | 苏州小工匠机器人有限公司 | Manipulator with gas storage space |
-
2018
- 2018-09-10 CN CN201821476793.4U patent/CN208681585U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108839005A (en) * | 2018-09-10 | 2018-11-20 | 苏州小工匠机器人有限公司 | Manipulator with gas storage space |
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Address after: 215000 building 15, Luzhi Intelligent Manufacturing Industrial Park, No. 1, Zhangqing street, Luzhi Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee after: SUZHOU XIAOGONGJIANG ROBOT Co.,Ltd. Address before: 215000 5 / F, building 2, 33 linbu street, Suzhou Industrial Park, Jiangsu Province Patentee before: SUZHOU XIAOGONGJIANG ROBOT Co.,Ltd. |