LU93404B1 - Electronic-pneumatic folding type manipulator - Google Patents

Electronic-pneumatic folding type manipulator Download PDF

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Publication number
LU93404B1
LU93404B1 LU93404A LU93404A LU93404B1 LU 93404 B1 LU93404 B1 LU 93404B1 LU 93404 A LU93404 A LU 93404A LU 93404 A LU93404 A LU 93404A LU 93404 B1 LU93404 B1 LU 93404B1
Authority
LU
Luxembourg
Prior art keywords
stage
rocker arm
assembly
post
toggle
Prior art date
Application number
LU93404A
Inventor
Zhenbiao Wu
Original Assignee
Anxi Zhonglei Equipment Mfg Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Anxi Zhonglei Equipment Mfg Co Ltd filed Critical Anxi Zhonglei Equipment Mfg Co Ltd
Priority to LU93404A priority Critical patent/LU93404B1/en
Application granted granted Critical
Publication of LU93404B1 publication Critical patent/LU93404B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/144—Linear actuators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The present invention discloses an electronic-pneumatic folding type manipulator, which includes a workbench, a manipulator and a drive assembly used for driving the manipulator to do linear movement and/or rotation movement, wherein the manipulator includes a base assembly, a pneumatic gripping assembly, a pre-stage rocker arm assembly, a post-stage rocker arm assembly and a toggle connection block assembly; the pre-stage rocker arm assembly is provided with a pre-stage rotation cylinder, the head end of the pre-stage rocker arm assembly is in shaft connection with the base assembly through the body of the pre-stage rotation cylinder, the tail end is in shaft connection with the toggle connection block assembly, and the tail end of a piston rod of the pre-stage rotation cylinder is in shaft connection with the pre-stage rocker arm assembly; and the post-stage rocker arm assembly is provided with a post-stage rotation cylinder, the head end of the post-stage rocker arm assembly is in shaft connection with the toggle connection block assembly through the body of the post-stage rotation cylinder, the tail end is connected with the pneumatic gripping assembly, and the tail end of a piston rod of the post-stage rotation cylinder is in shaft connected with the post-stage rocker arm assembly. The electronic-pneumatic folding type manipulator disclosed by the present invention is simple in structure and low in cost

Description

ELECTRONIC-PNEUMATIC FOLDING TYPE MANIPULATOR
BACKGROUND
Technical Field
The present invention relates to the technical field of mechanical automation equipment, and in particular relates to an electronic-pneumatic folding type manipulator.
Related Art
The existing manipulators generally have the following disadvantages that: 1, structure is complex, integration degree is high, manufacturing cost and use cost are relatively expensive, and thus application and popularization of manipulators are severely restricted; 2, flexibility is poor, so objects or materials can not be grabbed and carried in a large range; 3, functional conversion between industrial application and practical teaching can not be realized, and applicable range of manipulators is severely restricted; and 4, structure is complex, and weight is large, so dismounting and maintenance are inconvenient.
Summary
With respect to the disadvantages of the above prior art, it is an object of the present invention to provide an electronic-pneumatic folding type manipulator.
In order to realize the above object, the present invention adopts the following technical scheme:
An electronic-pneumatic folding type manipulator includes a workbench and a manipulator, wherein the manipulator includes a base assembly, a pneumatic gripping assembly, a pre-stage rocker arm assembly, a post-stage rocker arm assembly and a toggle connection block assembly; the pre-stage rocker arm assembly is provided with a pre-stage rotation cylinder, the head end of the pre-stage rocker arm assembly is in shaft connection with the base assembly through the body of the pre-stage rotation cylinder, the tail end is in shaft connection with the toggle connection block assembly, and the tail end of a piston rod of the pre-stage rotation cylinder is in shaft connection with the pre-stage rocker arm assembly; the post-stage rocker arm assembly is provided with a post-stage rotation cylinder, the head end of the post-stage rocker arm assembly is in shaft connection with the toggle connection block assembly through the body of the post-stage rotation cylinder, the tail end is connected with the pneumatic gripping assembly, and the tail end of a piston rod of the post-stage rotation cylinder is in shaft connected with the post-stage rocker arm assembly; and the workbench is provided with a drive assembly, which is connected with the base assembly, used for driving the manipulator to do linear movement and/or rotation movement relative to the workbench.
Preferably, the toggle connection block assembly includes two pieces of toggle splints oppositely arranged, both of the tail end of the pre-stage rocker arm assembly and the head end of the post-stage rocker arm assembly are clamped between the two pieces of toggle splints and are in shaft connection with the toggle splints.
Preferably, the pre-stage rocker arm assembly includes a pre-stage upper rocker arm and a pre-stage lower rocker arm which are distributed in parallel, the head end of the pre-stage upper rocker arm is in shaft connection with the base assembly through the body of the pre-stage rotation cylinder, the tail end is in shaft connection with the toggle splints, and the head and tail ends of the pre-stage lower rocker arm are respectively in shaft connection with the base assembly and the toggle splints, and the tail end of the piston rod of the pre-stage rotation cylinder is in shaft connection to the middle part of the pre-stage lower rocker arm; and the post-stage rocker arm assembly includes a post-stage upper rocker arm and a post-stage lower rocker arm which are distributed in parallel, the head end of the post-stage upper rocker arm is in shaft connection with the toggle splints through the body of the post-stage rotation cylinder, the tail end is in shaft connection with the pneumatic gripping assembly, and the head and tail ends of the post-stage lower rocker arm are respectively in shaft connection with the toggle splints and the pneumatic gripping assembly, and the tail end of the piston rod of the post-stage rotation cylinder is in shaft connection to the middle part of the post-stage lower rocker arm.
Preferably, the toggle connection block assembly includes a plurality of mid-stage rocker arm assemblies distributed between the pre-stage rocker arm assembly and the post-stage rocker arm assembly and a plurality of splint groups distributed between the pre-stage rocker arm assembly and the mid-stage rocker arm assemblies, between adjacent two mid-stage rocker arm assemblies and between the mid-stage rocker arm assemblies and the post-stage rocker arm assembly, each of the splint groups is composed of two pieces of toggle splints oppositely arranged, and each of the mid-stage rocker arm assemblies is provided with a mid-stage rotation cylinder; and the body of each of the mid-stage rotation cylinders is in shaft connection with a corresponding splint group, and the tail end of the piston rod is in shaft connection with a corresponding mid-stage rocker arm assembly.
Due to adoption of the above scheme, according to the present invention, the manipulator can automatically swing in the range of 180° and do lifting movement in large range through reasonable arrangement and drive control of the rocker arm assemblies, so as to grab objects or materials from a place and then put them at another place having different height and direction as required, thereby greatly improving the flexibility of the manipulator.
Brief Description of Drawings FIG.1 is a front cross-section structure diagram of the embodiment of the present invention; FIG.2 is a side plane structure diagram of the embodiment of the present invention.
Description of Embodiments
The embodiment of the present invention is described in detail in conjunction with accompanying drawings, however, the present invention can be implemented in a multitude of different ways as defined and covered by claims.
As illustrated in FIG.1 and FIG.2, an electronic-pneumatic folding type manipulator includes a workbench 1 and a manipulator arranged on the workbench 1, wherein the manipulator includes: a base assembly configured to provide support function for the whole manipulator and realize the function of doing linear movement or rotation movement in a certain range by the manipulator; a pneumatic gripping assembly configured to realize the function of grabbing and carrying materials or objects by the manipulator; a toggle connection block assembly playing a role of transfer and connection between related parts or assemblies; a pre-stage rocker arm assembly which is provided with a pre-stage rotation cylinder 2, wherein the head end of the pre-stage rocker arm assembly is in shaft connection with the base assembly through the body of the pre-stage rotation cylinder 2, the tail end is in shaft connection with the toggle connection block assembly, the tail end of a piston rod of the pre-stage rotation cylinder 2 is in shaft connection with the pre-stage rocker arm assembly, in such a way, the pre-stage rocker arm assembly is driven by utilizing the pre-stage drive cylinder 2 to do rotation movement at a certain angle relative to the base assembly, thereby realizing the control of lifting height of the pre-stage rocker arm assembly; and a post-stage rocker arm assembly which is provided with a post-stage rotation cylinder 3, wherein the head end of the post-stage rocker arm assembly is in shaft connection with the toggle connection block assembly through the body of the post-stage rotation cylinder 3, the tail end is connected with the pneumatic gripping assembly, the tail end of a piston rod of the post-stage rotation cylinder 3 is in shaft connection with the post-stage rocker arm assembly, in such a way, the post-stage rocker arm assembly is driven by utilizing the post-stage drive cylinder 3 to do rotation movement at a certain angle relative to the toggle connection block assembly or the pre-stage rocker arm assembly, thereby realizing the control of lifting height of the post-stage rocker arm assembly and further realizing the position regulation of the pneumatic gripping assembly so as to grab and carry materials or objects.
Meanwhile, the workbench 1 is further provided with a drive assembly used for driving the whole manipulator to do linear movement and/or rotation movement relative to the workbench 1, and the drive assembly is connected with the base assembly to drive the movement of the whole machine.
Through the above structure, the manipulator of this embodiment can automatically swing in a range of 180° and do lifting movement in a large range, so as to grab objects or materials from a place and then put them at another place having different height and direction as required, thereby greatly improving the flexibility of the manipulator; and meanwhile, due to simple structure and low manufacturing cost and use cost, the manipulator is applicable to not only industrial production field but also teaching, thereby improving the universality and practicability of the manipulator.
The toggle connection block assembly includes two pieces of toggle splints 4 oppositely arranged, and both of the tail end of the pre-stage rocker arm assembly and the head end of the post-stage rocker arm assembly are clamped between the two pieces of toggle splints 4 and realize shaft connection with the toggle splints 4. However, the pre-stage rocker arm assembly and the post-stage rocker arm assembly of this embodiment can adopt an identical structure form, so as to simplify the structure of the rocker arm assemblies on the basis of ensuring functional effect. Specifically, the pre-stage rocker arm assembly includes a pre-stage upper rocker arm 5 and a pre-stage lower rocker arm 6 which are distributed in parallel, the head end of the pre-stage upper rocker arm 5 is in shaft connection with the base assembly through the body of the pre-stage rotation cylinder 2, the tail end is in shaft connection with the toggle splints 4, and the head and tail ends of the pre-stage lower rocker arm 6 are respectively in shaft connection with the base assembly and the toggle splints 4, and the tail end of the piston rod of the pre-stage rotation cylinder 2 is in shaft connection to the middle part of the pre-stage lower rocker arm 6; correspondingly, the post-stage rocker arm assembly includes a post-stage upper rocker arm 7 and a post-stage lower rocker arm 8 which are distributed in parallel, the head end of the post-stage upper rocker arm 7 is in shaft connection with the toggle splints 4 through the body of the post-stage rotation cylinder 3, the tail end is in shaft connection with the pneumatic gripping assembly, and the head and tail ends of the post-stage lower rocker arm 8 are respectively in shaft connection with the toggle splints 4 and the pneumatic gripping assembly, and the tail end of the piston rod of the post-stage rotation cylinder 3 is in shaft connection to the middle part of the post-stage lower rocker arm 8, in such a way, not only are the structures of the rocker arm assemblies simplified but also the weights of the rocker arm assemblies are reduced, thereby greatly improving the convenience of dismounting and mounting of the manipulator.
The toggle connection block assembly includes a plurality of mid-stage rocker arm assemblies (not illustrated, the specific connection manner or arrangement manner can be carried out by reference to the pre-stage and post-stage rocker arm assemblies) which are distributed between the pre-stage rocker arm assembly and the post-stage rocker arm assembly and have the same structure as the pre-stage rocker arm assembly or the post-stage rocker arm assembly, and meanwhile further includes a plurality of splint groups which are distributed between the pre-stage rocker arm assembly and the mid-stage rocker arm assemblies, between adjacent two mid-stage rocker arm assemblies and between the mid-stage rocker arm assemblies and the post-stage rocker arm assembly, each of the splint groups is composed of two pieces of toggle splints 4 oppositely arranged, each of the mid-stage rocker arm assemblies is provided with a mid-stage rotation cylinder (not illustrated, structure selection and arrangement can be carried out specifically by reference to the pre-stage rotation cylinder or the post-stage rotation cylinder); the body of each of the mid-stage rotation cylinders is in shaft connection with a corresponding splint group, the tail end of the piston rod is in shaft connection with a corresponding mid-stage rocker arm assembly. In this way, the entire length of the rocker arms of the whole manipulator can be prolonged and the arrangement of multiple joint-similar structures is realized, thereby greatly expanding the lifting and rotation ranges of the manipulator.
The drive assembly includes a rotation driver (not illustrated, a step motor can be adopted according to practical situation), a linear driver 9 (which can adopt a cylinder) arranged on the workbench 1 and a guide rail 10 (which can adopt a structure form of a ball bearing guide rail) located at the output end of the linear driver 9, wherein the base assembly is transversely disposed on the guide rail 10, the output end of the linear driver 9 is connected with the base assembly and drives the base assembly to do linear feed movement along the guide rail 10, and the rotation driver is disposed under the base assembly and drives the base assembly to do rotation advance and return movement relative to the workbench 1. In this way, the control of rotation and proceeding action of the whole manipulator is realized by utilizing the rotation driver and the linear driver 9 and through the base assembly, and the programmed and automated precise control of the rotation driver and the linear driver 9 can be realized through programmable logic controller (PLC), a controller and the like similar to centralized control equipment.
The base assembly includes a sliding table 11, a rotary disk 12, a base 13 and a bearing 14, wherein the sliding table 11 is fitted on the guide rail 10 through the sliding block 15 and sleeved with the lower end part of the bearing 14, the head end of the pre-stage rocker arm assembly (specifically, the head end of the pre-stage upper rocker arm 5 and the head end of the pre-stage lower rocker arm 6) is in shaft connection to the base 13 through the pre-stage rotation cylinder 2, the base 13 is fixed on the rotary disk 12, the rotary disk 12 is sleeved with the upper end part of the bearing 14, the rotation driver is connected with the bearing 14, and the output end of the linear driver 9 is connected with the sliding table 11. The pneumatic gripping assembly of this embodiment can adopt a structure including a wrist connection block 16, a pneumatic gripping drive cylinder 17 and a pneumatic gripper 18, wherein the wrist connection block 16 is in shaft connected with the tail end of the post-stage rocker arm assembly (specifically, the tail end of the post-stage upper rocker arm 7 and the tail end of the post-stage lower rocker arm 8), the pneumatic gripping drive cylinder 17 is fixed on the wrist connection block 16, and the pneumatic gripper 18 is connected to the piston rod of the pneumatic gripping drive cylinder 17. In this way, the pneumatic gripping drive cylinder 17 can control the pneumatic gripper 18 to do feed movement in the direction of the piston rod of the pneumatic gripping drive cylinder 17 while the pneumatic gripping assembly realizes position regulation through various rocker arm assemblies, so as to grab materials or objects at a proper place.
The above description is only preferred embodiment of the present invention, but does not limit the patent scope of the present invention, and any equivalent structures or equivalent flow variations made by using the specification and accompanying drawings of the present invention are applied directly or indirectly in other relevant technical fields and also included in the scope of patent protection of the present invention.

Claims (4)

1. An electronic-pneumatic folding type manipulator, comprising a workbench and a manipulator, wherein the manipulator includes a base assembly, a pneumatic gripping assembly, a pre-stage rocker arm assembly, a post-stage rocker arm assembly and a toggle connection block assembly; the pre-stage rocker arm assembly is provided with a pre-stage rotation cylinder, the head end of the pre-stage rocker arm assembly is in shaft connection with the base assembly through the body of the pre-stage rotation cylinder, the tail end is in shaft connection with the toggle connection block assembly, and the tail end of a piston rod of the pre-stage rotation cylinder is in shaft connection with the pre-stage rocker arm assembly; the post-stage rocker arm assembly is provided with a post-stage rotation cylinder, the head end of the post-stage rocker arm assembly is in shaft connection with the toggle connection block assembly through the body of the post-stage rotation cylinder, the tail end is connected with the pneumatic gripping assembly, and the tail end of a piston rod of the post-stage rotation cylinder is in shaft connected with the post-stage rocker arm assembly; and the workbench is provided with a drive assembly, which is connected with the base assembly, used for driving the manipulator to do linear movement and/or rotation movement relative to the workbench.
2. The electronic-pneumatic folding type manipulator according to claim 1, wherein the toggle connection block assembly includes two pieces of toggle splints oppositely arranged, both of the tail end of the pre-stage rocker arm assembly and the head end of the post-stage rocker arm assembly are clamped between the two pieces of toggle splints and are in shaft connection with the toggle splints.
3. The electronic-pneumatic folding type manipulator according to claim 2, wherein the pre-stage rocker arm assembly includes a pre-stage upper rocker arm and a pre-stage lower rocker arm which are distributed in parallel, the head end of the pre-stage upper rocker arm is in shaft connection with the base assembly through the body of the pre-stage rotation cylinder, the tail end is in shaft connection with the toggle splints, and the head and tail ends of the pre-stage lower rocker arm are respectively in shaft connection with the base assembly and the toggle splints, and the tail end of the piston rod of the pre-stage rotation cylinder is in shaft connection to the middle part of the pre-stage lower rocker arm; and the post-stage rocker arm assembly includes a post-stage upper rocker arm and a post-stage lower rocker arm which are distributed in parallel, the head end of the post-stage upper rocker arm is in shaft connection with the toggle splints through the body of the post-stage rotation cylinder, the tail end is in shaft connection with the pneumatic gripping assembly, and the head and tail ends of the post-stage lower rocker arm are respectively in shaft connection with the toggle splints and the pneumatic gripping assembly, and the tail end of the piston rod of the post-stage rotation cylinder is in shaft connection to the middle part of the post-stage lower rocker arm.
4. The electronic-pneumatic folding type manipulator according to claim 1, wherein the toggle connection block assembly includes a plurality of mid-stage rocker arm assemblies distributed between the pre-stage rocker arm assembly and the post-stage rocker arm assembly and a plurality of splint groups distributed between the pre-stage rocker arm assembly and the mid-stage rocker arm assemblies, between adjacent two mid-stage rocker arm assemblies and between the mid-stage rocker arm assemblies and the post-stage rocker arm assembly, each of the splint groups is composed of two pieces of toggle splints oppositely arranged, and each of the mid-stage rocker arm assemblies is provided with a mid-stage rotation cylinder; and the body of each of the mid-stage rotation cylinders is in shaft connection with a corresponding splint group, and the tail end of the piston rod is in shaft connection with a corresponding mid-stage rocker arm assembly.
LU93404A 2016-12-27 2016-12-27 Electronic-pneumatic folding type manipulator LU93404B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
LU93404A LU93404B1 (en) 2016-12-27 2016-12-27 Electronic-pneumatic folding type manipulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
LU93404A LU93404B1 (en) 2016-12-27 2016-12-27 Electronic-pneumatic folding type manipulator

Publications (1)

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LU93404B1 true LU93404B1 (en) 2017-05-31

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108890616A (en) * 2018-08-30 2018-11-27 广东宏穗晶科技服务有限公司 One kind puts together machines people

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108890616A (en) * 2018-08-30 2018-11-27 广东宏穗晶科技服务有限公司 One kind puts together machines people

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FG Patent granted

Effective date: 20170531