CN219027522U - Pneumatic power-assisted manipulator for long-arm soft rope - Google Patents

Abstract

The utility model discloses a long-arm soft rope pneumatic power-assisted manipulator which comprises a rail, a gas storage upright post, a rotary fixing frame, a fixing sleeve, a pull rod, a pneumatic gripper and a steel wire rope, wherein a one-way gas inlet valve is fixedly arranged on the side wall of the lower end of the gas storage upright post, and the outer end of the one-way gas inlet valve is connected with a gas inlet source; the lower end of the steel wire rope is fixedly connected with the upper end of the pneumatic gripper, the track is horizontally arranged, the fixed sleeve is fixedly arranged at the front end part of the track, the rotary fixing frame is fixedly arranged at the rear end part of the track, the lower end of the rotary fixing frame is fixedly arranged at the upper end of the gas storage upright post, the front end of the pull rod is fixedly connected with the fixed sleeve, and the rear end of the pull rod is fixedly connected with the upper end of the rotary fixing frame; the method is characterized in that: the bottom of the track is fixedly provided with a horizontally arranged movable cross beam through two traveling devices; a brake device is arranged on the side wall of the bottom of the rotary fixing frame; the utility model is suitable for carrying objects with weight below 50Kg, has a maximum working radius of 6 meters, and has flexible operation and time and labor saving.

Description

Pneumatic power-assisted manipulator for long-arm soft rope

Technical Field

The utility model relates to an improvement of a universal pneumatic power-assisted manipulator, in particular to a long-arm soft cable pneumatic power-assisted manipulator which is suitable for flexibly carrying objects with weight below 50Kg in a large working field environment.

Background

In the field of logistics and storage, most of objects weigh less than 50Kg, and the objects are required to be quickly transported and auxiliary work is required by a manipulator with larger working radius; in the production process of the solar water heater, a hydrostatic test is required to be carried out on the inner container of the solar water heater, the inner container of the solar water heater weighs about 20Kg, and a manipulator with the maximum working radius of 6 meters is also required to carry in an auxiliary way.

The universal pneumatic booster manipulator used in the market at present has a grabbing weight of 50-300 Kg and comprises a base, a stand column, a rotating shaft, an air cylinder, a main arm, an auxiliary arm, a lifting rod, a balancing weight, a grab handle and a control box, wherein the stand column is vertically fixed on the base; taking the world name brand U.S. Inguestron pneumatic manipulator as an example, two control boxes are used, one control box is arranged on the upright post, and the other control box is arranged on the handle control panel; the positions of the rotating joints are all provided with bearings. When the device is used, the control buttons on the control box are operated manually, so that objects can be grabbed or put down; when the piston rod of the air cylinder stretches, the front end of the mechanical arm can lift to drive the load to lift. The pneumatic power-assisted manipulator has the following defects: the working radius is not more than 4 meters, and the requirements of logistics, storage fields and solar water heater production on larger working radius cannot be met.

Disclosure of Invention

The utility model aims to provide the long-arm soft rope pneumatic power-assisted manipulator which is suitable for carrying objects with the weight of less than 50Kg under the environment of a larger working site, has the maximum working radius of 6 meters, is connected with a pneumatic gripper by adopting a steel wire rope, and has flexible operation, time saving and labor saving.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

the long-arm soft rope pneumatic power-assisted manipulator comprises a track, a gas storage upright post, a rotary fixing frame, a fixing sleeve, a pull rod, a pneumatic gripper and a steel wire rope, wherein the lower end of the gas storage upright post is fixedly arranged on the ground, a one-way air inlet valve is fixedly arranged on the side wall of the lower end of the gas storage upright post, and the outer end of the one-way air inlet valve is connected with an air inlet source; the lower end of the steel wire rope is fixedly connected with the upper end of the pneumatic gripper, the track is horizontally arranged, the fixed sleeve is fixedly arranged at the front end part of the track, the rotary fixing frame is fixedly arranged at the rear end part of the track, the lower end of the rotary fixing frame is fixedly arranged at the upper end of the gas storage upright post, the front end of the pull rod is fixedly connected with the fixed sleeve, and the rear end of the pull rod is fixedly connected with the upper end of the rotary fixing frame; the method is characterized in that: the bottom of the track is fixedly provided with a horizontally arranged movable cross beam through two traveling devices; a brake device is arranged on the side wall of the bottom of the rotary fixing frame;

the rotary fixing frame consists of a positioning column, a rotary sleeve, a mounting frame, a track fixing frame, a support plate and a pneumatic control box, wherein the lower end of the positioning column is fixedly connected with the upper end of the gas storage upright column;

the brake device comprises a mounting plate, a brake cylinder, a brake disc and a friction plate, wherein the mounting plate is fixedly arranged on the side wall of the rotary sleeve, the brake cylinder is fixedly arranged at the bottom of the mounting plate, the brake disc is fixedly arranged between the positioning column and the gas storage upright column, and the friction plate matched with the brake disc is fixedly arranged on a piston rod of the brake cylinder;

the movable cross beam consists of a cross beam, a front fixing plate, a low-friction air cylinder, a rear fixing plate, a fixing pulley and a movable pulley, wherein the fixing pulley is fixedly arranged at the front end of an inner cavity of the cross beam, the front end and the rear end of the low-friction air cylinder are respectively fixedly arranged in the middle of the inner cavity of the cross beam through the front fixing plate and the rear fixing plate, the movable pulley is fixedly arranged at the end part of a piston rod of the low-friction air cylinder, the movable pulley is positioned at the rear end part of the inner cavity of the cross beam, and the upper end of the steel wire rope is fixedly connected with the rear fixing plate after bypassing the fixing pulley and the movable pulley.

The pneumatic gripper consists of a gripper cylinder, a handle, a gripper control box, a positioning sleeve, a steel wire rope fixing block, a lower bearing and a locking nut; the fixed upper portion that sets up at the tongs of tongs cylinder, the fixed locating sleeve that is equipped with in upper portion lateral wall of tongs, fixed handle and the tongs control box of being equipped with on the upper portion lateral wall of tongs, the tongs control box is linked together with the tongs cylinder through the trachea, the intracavity of locating sleeve is equipped with down the bearing, after the lower extreme of wire rope fixed block passes the through-hole and the lower bearing of locating sleeve, it is fixed with lock nut connection, the upper portion of wire rope fixed block is equipped with wire rope fixed orifices and bolt hole, the lower extreme of wire rope inserts in the wire rope fixed orifices, and pass the bolt hole with the bolt and compress tightly wire rope.

The pneumatic control box is internally provided with a filtering pressure reducing valve, a precise pressure reducing valve, a pneumatic control precise pressure regulating valve, a low-pressure self-locking pressure regulating valve, two air-through air control valves and a brake pressure regulating valve, wherein the inlet of the filtering pressure reducing valve is communicated with the upper part of an inner cavity of the air storage upright post through an air pipe, the outlet of the filtering pressure reducing valve is respectively communicated with the inlet of the precise pressure reducing valve and the inlet of the grip control box through an air pipe, the outlet of the precise pressure reducing valve is communicated with the inlet of the brake pressure regulating valve through an air pipe, the outlet of the brake pressure regulating valve is communicated with the inlet of the brake cylinder through an air pipe, the outlet of the precise pressure reducing valve is communicated with the main inlet of the pneumatic control precise pressure regulating valve, the main outlet of the two air-through air control valves is communicated with the low-friction cylinder, the outlet of the precise pressure reducing valve is communicated with the inlet of the low-pressure self-locking pressure regulating valve through an air pipe, and the outlet of the low-pressure self-locking pressure regulating valve is communicated with the auxiliary outlet of the two air-through an air pipe.

The front end of the movable cross beam is fixedly provided with a traveling device, and the middle part of the movable cross beam is provided with another traveling device.

The walking device comprises a hanging sleeve, a flat plate, a vertical plate, four supporting wheels and four limiting wheels, wherein the hanging sleeve is sleeved on a movable cross beam, the flat plate is fixedly arranged at the upper end of the hanging sleeve, the vertical plate is fixedly arranged in the middle of the upper plate surface of the flat plate, the upper part of the vertical plate is inserted into a cavity of a rail, the front end part and the rear end part of the vertical plate are respectively symmetrically provided with two supporting wheels, the supporting wheels are positioned on a bottom plate of the inner cavity of the rail, the four limiting wheels are symmetrically arranged in the middle of the vertical plate, and the limiting wheels are positioned at the top plate of the inner cavity of the rail.

The distance between the front end of the track and the rotary fixing frame is 6 meters.

The utility model has the beneficial effects that: the pneumatic hand grip is suitable for carrying objects with the weight of less than 50Kg under the environment of a large working place, has the maximum working radius of 6 meters, adopts a steel wire rope to connect the pneumatic hand grip, has flexible operation, saves time and labor, is particularly suitable for logistics, storage fields and the production of solar water heaters, improves the working efficiency and reduces the labor intensity.

Drawings

FIG. 1 is a schematic diagram of the front view of the structure of the present utility model;

FIG. 2 is an enlarged schematic view, partially in section, of the structure of the pneumatic hand grip of the present utility model;

FIG. 3 is an enlarged schematic view of the running gear of the present utility model;

FIG. 4 is an enlarged schematic top view of the walking device of the present utility model;

FIG. 5 is an enlarged schematic top view of the structure of the movable cross beam of the present utility model;

FIG. 6 is an enlarged schematic view of the rotary mount of the present utility model;

FIG. 7 is an enlarged schematic view in partial cross-section of a structure of a rotary mount of the present utility model;

FIG. 8 is an enlarged schematic view of a track structure of the present utility model from the left;

fig. 9 is a schematic diagram of the pneumatic principle of the present utility model.

In the figure: 1. a track; 2. a gas storage column; 3. rotating the fixing frame; 31. positioning columns; 32. a rotating sleeve; 33. a mounting frame; 34. a track fixing frame; 35. a bracket; 36. a support plate; 37. a pneumatic control box; 4. a brake device; 41. a mounting plate; 42. a brake cylinder; 43. a brake disc; 44. a friction plate; 5. a fixed sleeve; 6. a pull rod; 7. a pneumatic grip; 70. a gripper cylinder; 71. a handle; 72. a grip; 73. a grip control box; 74. a positioning sleeve; 75. a wire rope fixing block; 76. a lower bearing; 77. a lock nut; 78. a wire rope fixing hole; 79. bolt holes; 8. a walking device; 81. a hanging sleeve; 82. a flat plate; 83. a riser; 84. a support wheel; 85. a limiting wheel; 9. a movable cross beam; 91. a cross beam; 92. a front fixing plate; 93. a low friction cylinder; 94. a rear fixing plate; 95. a fixed pulley; 96. a moving pulley; 10. a wire rope; 11. a one-way air inlet valve; 12. a filter pressure reducing valve; 13. a precision pressure reducing valve; 14. pneumatic control precise pressure regulating valve; 15. low-pressure self-locking pressure regulating valve; 16. two ventilation control valves; 17. and a brake pressure regulating valve.

Detailed Description

The present utility model is manufactured with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, and 9.

The long-arm soft rope pneumatic power-assisted manipulator comprises a track 1, a gas storage upright post 2, a rotary fixing frame 3, a fixing sleeve 5, a pull rod 6, a pneumatic gripper 7 and a steel wire rope 10, wherein the lower end of the gas storage upright post 2 is fixedly arranged on the ground, a one-way air inlet valve 11 is fixedly arranged on the side wall of the lower end of the gas storage upright post 2, and the outer end of the one-way air inlet valve 11 is connected with an air inlet source; the lower end of the steel wire rope 10 is fixedly connected with the upper end of the pneumatic gripper 7, the track 1 is horizontally arranged, the fixed sleeve 5 is fixedly arranged at the front end part of the track 1, the rotary fixing frame 3 is fixedly arranged at the rear end part of the track 1, the lower end of the rotary fixing frame 3 is fixedly arranged at the upper end of the gas storage upright post 2, the front end of the pull rod 6 is fixedly connected with the fixed sleeve 5, and the rear end of the pull rod 6 is fixedly connected with the upper end of the rotary fixing frame 3; the method is characterized in that: the bottom of the track 1 is fixedly provided with a horizontally arranged movable cross beam 9 through two traveling devices 8; a brake device 4 is arranged on the side wall of the bottom of the rotary fixing frame 3;

the rotary fixing frame 3 comprises a positioning column 31, a rotary sleeve 32, a mounting frame 33, a track fixing frame 34, a support 35, a support plate 36 and a pneumatic control box 37, wherein the lower end of the positioning column 31 is fixedly connected with the upper end of the gas storage upright 2, the rotary sleeve 32 is arranged on the upper part of the positioning column 31 through a bearing mounting sleeve, the rotary sleeve 32 freely rotates on the positioning column 31, the mounting frame 33 is fixedly arranged at the upper end of the rotary sleeve 32, the track fixing frame 34 is fixedly arranged in a cavity of the mounting frame 33 through two support plates 36, the rear end of the track 1 is fixedly arranged in the track fixing frame 34, the cavity between the movable cross beam 9 and the two support plates 36 is matched, so that the rear end of the movable cross beam 9 can penetrate through the cavity between the two support plates 36 when moving towards the rear side, the support 35 is fixedly arranged at the upper end of the mounting frame 33 and the rear end of the pull rod 6, and the pneumatic control box 37 is fixedly arranged on the side wall of the mounting frame 33;

the brake device 4 comprises a mounting plate 41, a brake cylinder 42, a brake disc 43 and a friction plate 44, wherein the mounting plate 41 is fixedly arranged on the side wall of the rotary sleeve 32, the brake cylinder 42 is fixedly arranged at the bottom of the mounting plate 41, the brake disc 43 is fixedly arranged between the positioning column 31 and the gas storage upright column 2, and the friction plate 44 matched with the brake disc 43 is fixedly arranged on a piston rod of the brake cylinder 42;

the movable cross beam 9 comprises a cross beam 91, a front fixing plate 92, a low-friction air cylinder 93, a rear fixing plate 94, a fixing pulley 95 and a movable pulley 96, wherein the fixing pulley 95 is fixedly arranged at the front end of an inner cavity of the cross beam 91, the front end and the rear end of the low-friction air cylinder 93 are fixedly arranged in the middle of the inner cavity of the cross beam 91 respectively through the front fixing plate 92 and the rear fixing plate 94, the movable pulley 96 is fixedly arranged at the end part of a piston rod of the low-friction air cylinder 93, the movable pulley 96 is positioned at the rear end part of the inner cavity of the cross beam 91, and the upper end of the steel wire rope 10 is fixedly connected with the rear fixing plate 94 after bypassing the fixing pulley 95 and the movable pulley 96, so that the position change of the pneumatic gripper 7 is realized through the extending length of the piston rod of the low-friction air cylinder 93.

The pneumatic gripper 7 consists of a gripper cylinder 70, a handle 71, a gripper 72, a gripper control box 73, a positioning sleeve 74, a steel wire rope fixing block 75, a lower bearing 76 and a locking nut 77; the gripper cylinder 70 is fixedly arranged on the upper portion of the gripper 72, an object is pressed and fixed in a cavity of the gripper 72 through a piston rod of the gripper cylinder 70, the object is prevented from falling off, a positioning sleeve 74 is fixedly arranged at the upper end of the gripper 72, a handle 71 and a gripper control box 73 are fixedly arranged on the side wall of the upper portion of the gripper 72, the gripper control box 73 is communicated with the gripper cylinder 70 through an air pipe, the gripper cylinder 70 is operated through the gripper control box 73, a lower bearing 76 is arranged in the cavity of the positioning sleeve 74, the lower end of a steel wire rope fixing block 75 penetrates through a through hole of the positioning sleeve 74 and the lower bearing 76 and then is fixedly connected with a locking nut 77, the gripper 72 is enabled to freely rotate at the lower end of the steel wire rope fixing block 75, a steel wire rope fixing hole 78 and a bolt hole 79 are formed in the upper portion of the steel wire rope fixing block 75, the lower end of the steel wire rope 10 is inserted into the steel wire rope fixing hole 78, and the steel wire rope 10 is pressed through the bolt hole 79.

The pneumatic control box 37 is internally provided with a filtering pressure reducing valve 12, a precise pressure reducing valve 13, a pneumatic control precise pressure regulating valve 14, a low-pressure self-locking pressure regulating valve 15, two air-through control valves 16 and a brake pressure regulating valve 17, wherein the inlet of the filtering pressure reducing valve 12 is communicated with the upper part of the inner cavity of the air storage upright post 2 through an air pipe, the outlet of the filtering pressure reducing valve 12 is respectively communicated with the inlet of the precise pressure reducing valve 13 and the inlet of the grip control box 73 through an air pipe, the outlet of the precise pressure reducing valve 13 is communicated with the inlet of the brake pressure regulating valve 17 through an air pipe, the outlet of the brake pressure regulating valve 17 is communicated with a brake cylinder 42 through an air pipe, the outlet of the precise pressure reducing valve 13 is communicated with the inlet of the pneumatic control precise pressure regulating valve 14 through an air pipe, the outlet of the pneumatic control precise pressure regulating valve 14 is communicated with the main inlets of the two air-through control valves 16, the main outlets of the two air-through control valves 16 are communicated with the low-friction cylinders 93, the outlet of the precise pressure reducing valve 13 is communicated with the auxiliary inlets of the two air-through air pipes, the outlet of the precise pressure reducing valve 13 is communicated with the inlet of the low-pressure self-locking valve 15 through an air pipe, the outlet of the low-pressure self-locking pressure regulating valve 15 is communicated with the outlet of the air-through the air pipe is communicated with the outlet of the auxiliary air-through the air pipe. The friction force between the friction plate 44 on the brake cylinder 42 and the brake disc 43 is adjusted by adjusting the brake pressure regulating valve 17, so that the rotary fixing frame 3 is in a static state and cannot rotate when no manual pushing by an operator exists; the working state of the low-friction air cylinder 93 is adjusted by adjusting the pneumatic control precise pressure regulating valve 14 and the low-pressure self-locking pressure regulating valve 15, so that the pneumatic gripper 7 can hover in the air after grabbing an object, and the position hovering in the air is manually adjusted by an operator, so that the pneumatic gripper is flexible and convenient.

The front end of the movable cross beam 9 is fixedly provided with a traveling device 8, and the middle part of the movable cross beam 9 is provided with another traveling device 8.

The walking device 8 comprises a hanging sleeve 81, a flat plate 82, a vertical plate 83, four supporting wheels 84 and four limiting wheels 85, wherein the hanging sleeve 81 is sleeved on a movable cross beam 9, the flat plate 82 is fixedly arranged at the upper end of the hanging sleeve 81, the vertical plate 83 is fixedly arranged in the middle of the upper plate surface of the flat plate 82, the upper part of the vertical plate 83 is inserted into a cavity of a track 1, two supporting wheels 84 are symmetrically arranged at the front end part and the rear end part of the vertical plate 83 respectively, the supporting wheels 84 are located on a bottom plate of the cavity of the track 1, the supporting wheels 84 slide along the bottom plate of the cavity of the track 1, the four limiting wheels 85 are symmetrically arranged in the middle of the vertical plate 83, the limiting wheels 85 are located on a top plate of the cavity of the track 1 and slide along the top plate of the cavity of the track 1, and the movable cross beam 9 is supported in the cavity of the track 1 through the four supporting wheels 84 and the four limiting wheels 85, so that the horizontal stable movement of the movable cross beam 9 along the axial direction of the track 1 is realized.

The distance between the front end of the track 1 and the rotary fixing frame 3 is 6 meters, so that the working radius reaches 6 meters.

When the utility model is used in the logistics, storage fields and the production of solar water heaters, the articles can be carried only by correspondingly operating the opening and closing buttons on the handle control box 73; the pneumatic gripper 7 is connected by adopting the steel wire rope 10, the maximum working radius can reach 6 meters, the operation is flexible, the time and the labor are saved, the working efficiency is improved, and the labor intensity is reduced. For carrying longer articles, two relatively arranged articles can be grasped at two ends of the longer articles respectively, so that the long articles can be easily carried.

Claims (6)

1. The utility model provides a long arm soft cable pneumatic power-assisted manipulator, includes track (1), gas storage stand (2), rotatory mount (3), fixed cover (5), pull rod (6), pneumatic tongs (7) and wire rope (10), and the lower extreme of gas storage stand (2) is fixed to be set up subaerial, is fixed to be equipped with one-way admission valve (11) on the lower extreme lateral wall of gas storage stand (2), and the outer end of one-way admission valve (11) is connected the air supply; the lower end of the steel wire rope (10) is fixedly connected with the upper end of the pneumatic handle (7), the track (1) is horizontally arranged, the fixed sleeve (5) is fixedly arranged at the front end part of the track (1), the rotary fixing frame (3) is fixedly arranged at the rear end part of the track (1), the lower end of the rotary fixing frame (3) is fixedly arranged at the upper end of the gas storage upright post (2), the front end of the pull rod (6) is fixedly connected with the fixed sleeve (5), and the rear end of the pull rod (6) is fixedly connected with the upper end of the rotary fixing frame (3); the method is characterized in that: the bottom of the track (1) is fixedly provided with a horizontally arranged movable cross beam (9) through two traveling devices (8); a brake device (4) is arranged on the side wall of the bottom of the rotary fixing frame (3);

the rotary fixing frame (3) consists of a positioning column (31), a rotary sleeve (32), a mounting frame (33), a track fixing frame (34), a support (35), a support plate (36) and a pneumatic control box (37), wherein the lower end of the positioning column (31) is fixedly connected with the upper end of a gas storage upright column (2), the rotary sleeve (32) is fixedly arranged on the upper part of the positioning column (31) through a bearing mounting sleeve, the mounting frame (33) is fixedly arranged at the upper end of the rotary sleeve (32), the track fixing frame (34) is fixedly arranged in a cavity of the mounting frame (33) through two support plates (36), the rear end of the track (1) is fixedly arranged in the track fixing frame (34), the movable cross beam (9) is matched with a cavity between the two support plates (36), the support (35) is fixedly arranged at the upper end of the mounting frame (33), the upper end of the support (35) is fixedly connected with the rear end of the pull rod (6), and the pneumatic control box (37) is fixedly arranged on the side wall of the mounting frame (33);

the brake device (4) is composed of a mounting plate (41), a brake cylinder (42), a brake disc (43) and a friction plate (44), wherein the mounting plate (41) is fixedly arranged on the side wall of the rotary sleeve (32), the brake cylinder (42) is fixedly arranged at the bottom of the mounting plate (41), the brake disc (43) is fixedly arranged between the positioning column (31) and the gas storage column (2), and the friction plate (44) matched with the brake disc (43) is fixedly arranged on a piston rod of the brake cylinder (42);

the movable cross beam (9) comprises a cross beam (91), a front fixing plate (92), a low-friction air cylinder (93), a rear fixing plate (94), a fixing pulley (95) and a movable pulley (96), wherein the fixing pulley (95) is fixedly arranged at the front end of an inner cavity of the cross beam (91), the front end and the rear end of the low-friction air cylinder (93) are fixedly arranged in the middle of the inner cavity of the cross beam (91) respectively through the front fixing plate (92) and the rear fixing plate (94), the movable pulley (96) is fixedly arranged at the end part of a piston rod of the low-friction air cylinder (93), the movable pulley (96) is located at the rear end part of the inner cavity of the cross beam (91), and the upper end of the steel wire rope (10) bypasses the fixing pulley (95) and is fixedly connected with the rear fixing plate (94).

2. The long-arm soft cable pneumatic power-assisted manipulator according to claim 1, wherein: the pneumatic gripper (7) consists of a gripper cylinder (70), a handle (71), a gripper (72), a gripper control box (73), a positioning sleeve (74), a steel wire rope fixing block (75), a lower bearing (76) and a locking nut (77); the utility model provides a fixed setting in the upper portion of tongs (72) of tongs cylinder (70), the upper end of tongs (72) is fixed to be equipped with spacer sleeve (74), fixed handle (71) and tongs control box (73) of being equipped with on the upper portion lateral wall of tongs (72), tongs control box (73) are linked together with tongs cylinder (70) through the trachea, the intracavity of spacer sleeve (74) is equipped with lower bearing (76), the lower extreme of wire rope fixed block (75) passes behind the through-hole and the lower bearing (76) of spacer sleeve (74), be connected fixedly with lock nut (77), the upper portion of wire rope fixed block (75) is equipped with wire rope fixed orifices (78) and bolt hole (79), the lower extreme of wire rope (10) inserts in wire rope fixed orifices (78), and compress tightly wire rope (10) with the bolt through bolt hole (79).

3. The long-arm soft cable pneumatic power-assisted manipulator according to claim 1, wherein: the pneumatic control box (37) is internally provided with a filtering pressure reducing valve (12), a precise pressure reducing valve (13), a pneumatic control precise pressure regulating valve (14), a low-pressure self-locking pressure regulating valve (15), two pneumatic control valves (16) and a brake pressure regulating valve (17), wherein the inlet of the filtering pressure reducing valve (12) is communicated with the upper part of the inner cavity of the gas storage upright post (2) through a gas pipe, the outlet of the filtering pressure reducing valve (12) is respectively communicated with the inlet of the precise pressure reducing valve (13) and the inlet of the grab control box (73) through the gas pipe, the outlet of the precise pressure reducing valve (13) is communicated with the inlet of the brake pressure regulating valve (17) through the gas pipe, the outlet of the brake pressure regulating valve (17) is communicated with the inlet of the pneumatic control precise pressure regulating valve (14) through the gas pipe, the outlet of the pneumatic control precise pressure regulating valve (14) is communicated with the main inlet of the two pneumatic control valves (16), the main outlet of the two pneumatic control valves (16) is communicated with the low-friction cylinder (93), the outlet of the precise pressure reducing valve (13) is communicated with the inlet of the two pneumatic control valves (16) through the gas pipe and the self-locking pressure regulating valve (15).

4. The long-arm soft cable pneumatic power-assisted manipulator according to claim 1, wherein: the front end of the movable cross beam (9) is fixedly provided with a traveling device (8), and the middle part of the movable cross beam (9) is provided with another traveling device (8).

5. The long-arm soft cable pneumatic power-assisted manipulator according to claim 4, wherein: running gear (8), by hang cover (81), dull and stereotyped (82), riser (83), four supporting wheel (84) and four spacing wheel (85) constitute, hang cover (81) cover and establish on moving beam (9), hang the upper end of cover (81) and be fixed with dull and stereotyped (82), the fixed riser (83) that are equipped with in upper plate face middle part of dull and stereotyped (82), the intracavity of track (1) is inserted on the upper portion of riser (83), the preceding tip and the rear end of riser (83) symmetry are equipped with two supporting wheel (84) respectively, supporting wheel (84) are located the bottom plate of track (1) inner chamber, four spacing wheel (85) symmetry set up in the middle part of riser (83), spacing wheel (85) are located the roof department of track (1) inner chamber.

6. The long-arm soft cable pneumatic power-assisted manipulator according to claim 1, wherein: the distance between the front end of the track (1) and the rotary fixing frame (3) is 6 meters.

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