CN104626155B - Pneumatic type clamps turning robot - Google Patents
Pneumatic type clamps turning robot Download PDFInfo
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- CN104626155B CN104626155B CN201410822080.9A CN201410822080A CN104626155B CN 104626155 B CN104626155 B CN 104626155B CN 201410822080 A CN201410822080 A CN 201410822080A CN 104626155 B CN104626155 B CN 104626155B
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Abstract
The object of the present invention is to provide pneumatic type to clamp turning robot, formed by major diameter cylinder, minor diameter cylinder, clamping disk, flake joint, cylinder brace, frame stator, rotating shaft, steel wire rope, cylinder stator. Frame is main support section, and whole driving forces provide by cylinder, and the cylinder of minor diameter is fixed in frame, one end of steel wire rope is connected with cylinder, the other end is fixed on rotating shaft, and major diameter cylinder and frame link together, and clamping disk is fixed on the upper end of major diameter cylinder. Minor diameter cylinder is connected with frame stator with bolt by right angle cylinder brace, and frame stator is bolted and is fixed in frame. The present invention breaks through traditional motor power output, and required drive source is all provided by the compressed air in gas cylinder, its wide material sources, and cost is low, clean and effective.
Description
Technical field
What the present invention relates to is a kind of robot, specifically realizes the pneumatic type of clamping and wide-angle upsetRobot.
Background technology
Robot be follow era development inevitable and product, it is collection machinery, electronics, control, identificationDeng the intelligent equipment of the height that is integrated, integrated the scientific research strength of forefront, the world today, is leading the epochTrend. Robot, as main labour main forces in future, directly affects its popularization to the adaptive capacity of environmentThe scope of application. Continue and occur Ground Creeping Robot, wall climbing robot, the sphere machine of creeping both at home and abroadAfter people, the robot of various other complex-terrains of adaptation has also obtained paying attention to widely, for example: pipeline is creepedRobot, cable climbing robot and pipe disk climbing robot. According to the difference of the mode of creeping, climbRow robot can be divided into five kinds of wheel type mobile, crawler type, snakelike climbing, magnetic-type and crawling formulas. DistinguishinglyThe progress of shape climbing robot and development have improved the range of application of robot greatly, can be in high-altitude, pipeline,In the complex environments such as cable, pipe disk, explore, reconnoitre.
The creep pluses and minuses of climbing robot of mode of difference are different, the advantage of wheel type mobile climbing mechanismThat speed is fast, control is simple, flexibility is good. Shortcoming is that contact area is little, obstacle climbing ability is poor, bad adaptability;The advantage contact area of crawler type climbing mechanism is large, bearing capacity is high, speed is fast, adaptable. ShortcomingCrawler belt serious wear, complexity is high, mobility is poor; The advantage of snakelike climbing climbing mechanism be efficiency high,Very flexible, working space are large. Shortcoming is that multifreedom controlling difficulty, bearing capacity are low. Magnetic-type creeperThe advantage of structure is that bearing capacity is large, adaptable. Shortcoming is that obstacle climbing ability is poor, environmental suitability is poor;The advantage of crawling formula climbing mechanism be bearing capacity large, control simple, adaptable. Shortcoming be speed slow,Complexity is high.
The intelligent turn-over type climbing machine that a kind of patent No. is CN101695835A has been invented by Harbin Engineering UniversityDevice people, its structure is made up of trunk, two flip-arms, two turning arms, clamping paw and controllers. ThisMechanism is taking upset motor as power source, and pipe is caught in one end of paw, and promptly rear upset motor provides driving force,Drive the paw of the other end to catch pipe, so just completed creeping of pipe. This mechanism's creep speed is fast,Adaptive faculty is strong, flexible, the intelligent degree of the mode of creeping is high, reliable operation. Pneumatic type of the present invention clamps upsetRobot, taking cylinder as power source, is changed into rectilinear motion rotatablely move by minor diameter cylinder, steel wire rope,By the clamping action of major diameter cylinder, make whole pneumatic type clamping turning robot complete the upset fortune of diskMoving.
Summary of the invention
The object of the present invention is to provide and solve in the past that climbing mechanism creep speed is slow, poor stability, transmission effectThe pneumatic type of the problems such as rate is not high clamps turning robot.
The object of the present invention is achieved like this:
Pneumatic type of the present invention clamps turning robot, it is characterized in that: comprise frame, first-the fourth-largest diameter gasCylinder, first-, tetra-chucks, the first-the second minor diameter cylinder, the first-the second steel wire rope, frame comprises up and downUpper strata frame and the lower rack of arranging, first diameter cylinder is arranged on the first end of upper strata frame, secondMajor diameter cylinder is arranged on the first end of lower rack, first diameter cylinder and second largest diameter cylinder symmetryArrange, the first chuck is arranged on first diameter cylinder, and the second chuck is arranged on second largest diameter cylinder,Between first diameter cylinder and second largest diameter cylinder, be connected by the first rotating shaft, the third-largest diameter cylinderBe arranged on the second end of upper strata frame, the fourth-largest diameter cylinder is arranged on the second end of lower rack, the third-largestDiameter cylinder and the fourth-largest diameter cylinder are arranged symmetrically with, and the 3rd chuck is arranged on the third-largest diameter cylinder, theFour chucks are arranged on the fourth-largest diameter cylinder, between the third-largest diameter cylinder and the fourth-largest diameter cylinder, pass throughThe second rotating shaft is connected, and the first minor diameter cylinder is connected by cylinder separately respectively with the second minor diameter cylinderSheet is fixed in frame, and the output of the first minor diameter cylinder and the second minor diameter cylinder is installed respectively the first fishEye connector and the second flake joint, annular first steel wire penetrating the first flake joint and with the first rotating shaftBe connected, second steel wire penetrating the second flake joint of annular is also connected with the second rotating shaft.
The present invention can also comprise:
1, also comprise the first pulley and the second pulley, the first pulley is arranged in frame by the first pulley base,The second pulley is arranged in frame by the second pulley base, and the middle part of the first steel wire rope is wound around the first pulley, theThe middle part of two steel wire ropes is wound around the second pulley.
Advantage of the present invention is:
1, the present invention breaks through traditional motor power output, and required drive is originated all by the compression sky in gas cylinderGas provides, its wide material sources, and cost is low, clean and effective.
2, the present invention, the moving sets of cylinder being converted in the process of revolute pair, can turn according to reality is requiredMoving angle, regulates the length of steel wire rope to reach target, simple and practical.
3, the present invention is swift in response sensitively, and larger driving force can be provided.
4, of the present invention simple in structure, motion realizes convenient.
Brief description of the drawings
Fig. 1 is the perspective view in front of the present invention;
Fig. 2 is the perspective view at the back side of the present invention;
Fig. 3 is the schematic diagram of frame of the present invention and minor diameter cylinder;
Fig. 4 is experimental provision platform.
Detailed description of the invention
For example the present invention is described in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～4, four major diameter cylinders 7 are fixed in frame 1 by cylinder stator 13, logicalOverwinding rotating shaft 11 and bearing 14 connected and composed whole rotation clamp mechanism, steel wire rope is walked around and is fixed on cunningPulley 16 on wheel seat 15 is connected with rotating shaft 11, flake joint 8. First, four of mechanism major diametersCylinder 7 original states are all at range place, and chuck 2 is under coupled air cylinder driven effect subsequentlyClamp a disk, ensure whole mechanism outstanding be held in aerial, in the time that the cylinder axis of minor diameter cylinder 6 is flexible,Steel wire rope 12 moves thereupon, because steel wire rope 12 one end and rotating shaft 11 are fixed together, according to relative fortuneMoving principle belongs to rotatablely moving of rotating shaft 11 and chuck 2 originally, because of folder under stingy cylinder 6 pulling functionsCoil 2 transfixions, also transfixion of rotating shaft 11, and then change rotatablely moving of whole frame into, therebyRealize the upset of mechanism. Chuck 2 is rotating shaft with the standing part of disk, and frame rotates to chuck 3 and contactsWhen the disk, chuck 3 clamps, and at this moment has two chucks to clamp disk simultaneously, has completed the of mechanism's upsetOne step; Upset afterwards second and third, the process of four steps and the first step in like manner, change be open and clampCylinder become chuck 4, chuck 5 and chuck 2, so just completed the once circulation that clamps switching process,So circulation goes down just to have completed the disk rotary movement of pneumatic type clamping turning robot.
Pneumatic type clamps turning robot by major diameter cylinder 7, minor diameter cylinder 6, clamping disk 2, flakeJoint 8, cylinder brace 9, frame stator 10, rotating shaft 11, steel wire rope 12, cylinder stator 13Composition. Frame 1 is main support section, and whole driving forces provide by cylinder, the cylinder of minor diameter6 are fixed in frame 1, and 12 one end of steel wire rope are connected with cylinder 6, and the other end is fixed on rotating shaft 11Upper, major diameter cylinder 7 links together with frame 1, clamps disk 2 and is fixed on the upper of major diameter cylinder 7End.
Minor diameter cylinder 6 is connected with frame stator by cylinder brace 9 use bolts, frame stator 10Be bolted and be fixed in frame 1.
Steel wire rope 12 links together by flake joint 8 and minor diameter cylinder 6 axles, and the other end is through rotationHole on axle 11, fixing with rotating shaft 11, simultaneously through the pulley 16 being fixed in frame.
Major diameter cylinder 7 is fixed on rotating shaft 11 by the bolted mode of cylinder brace 9 use.
The mode that clamping disk 2 is bolted is connected with major diameter cylinder 7, the disk nut on upper strataLocking.
The square aluminium tube that frame 1 is 20mm × 20mm by two cross-sectional areas and 6mm bakelite plate form, and pass throughBolt links together.
Claims (2)
- Pneumatic type clamp turning robot, it is characterized in that: comprise frame, first-the fourth-largest diameter cylinder,First-, tetra-chucks, the first-the second minor diameter cylinder, the first-the second steel wire rope, frame comprises up and down arrangesUpper strata frame and lower rack, first diameter cylinder is arranged on the first end of upper strata frame, second largest straightFootpath cylinder is arranged on the first end of lower rack, and first diameter cylinder and second largest diameter cylinder are arranged symmetrically with,The first chuck is arranged on first diameter cylinder, and the second chuck is arranged on second largest diameter cylinder, and firstBetween major diameter cylinder and second largest diameter cylinder, be connected by the first rotating shaft, the third-largest diameter cylinder is installedAt the second end of upper strata frame, the fourth-largest diameter cylinder is arranged on the second end of lower rack, the third-largest diameterCylinder and the fourth-largest diameter cylinder are arranged symmetrically with, and the 3rd chuck is arranged on the third-largest diameter cylinder, the 4th folderDish is arranged on the fourth-largest diameter cylinder, between the third-largest diameter cylinder and the fourth-largest diameter cylinder, passes through secondRotating shaft is connected, and the first minor diameter cylinder and the second minor diameter cylinder are solid by cylinder brace separately respectivelyFix in frame, the output of the first minor diameter cylinder and the second minor diameter cylinder is installed respectively the first flake and is connectHead and the second flake joint, first steel wire penetrating the first flake joint of annular is also connected with the first rotating shaft,Second steel wire penetrating the second flake joint of annular is also connected with the second rotating shaft.
- 2. pneumatic type according to claim 1 clamps turning robot, it is characterized in that: also comprise firstPulley and the second pulley, the first pulley is arranged in frame by the first pulley base, and the second pulley is by secondPulley base is arranged in frame, and the middle part of the first steel wire rope is wound around the first pulley, and the middle part of the second steel wire rope twinesAround the second pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410822080.9A CN104626155B (en) | 2014-12-25 | 2014-12-25 | Pneumatic type clamps turning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410822080.9A CN104626155B (en) | 2014-12-25 | 2014-12-25 | Pneumatic type clamps turning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104626155A CN104626155A (en) | 2015-05-20 |
| CN104626155B true CN104626155B (en) | 2016-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410822080.9A Active CN104626155B (en) | 2014-12-25 | 2014-12-25 | Pneumatic type clamps turning robot |
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| CN (1) | CN104626155B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058428B (en) * | 2015-08-23 | 2016-11-23 | 哈尔滨工程大学 | A kind of pneumatic type clamping tumbler |
| CN110757499B (en) * | 2019-11-29 | 2021-04-23 | 东莞理工学院 | Rotary robot joint |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101168254A (en) * | 2006-10-25 | 2008-04-30 | 上海求是机器人有限公司 | Swinging arm type transmission line polling robot |
| JP4553025B2 (en) * | 2008-03-26 | 2010-09-29 | 株式会社デンソーウェーブ | Suspension robot |
| CN101695835B (en) * | 2009-10-29 | 2012-05-09 | 哈尔滨工程大学 | Intelligent turn-over type climbing robot |
| CN202357167U (en) * | 2011-11-30 | 2012-08-01 | 河南恒昌计量自控设备有限公司 | Overturn manipulator device for clamping workpieces |
| CN102632505A (en) * | 2012-04-23 | 2012-08-15 | 哈尔滨工程大学 | Clamping type integral shrinking and overturning climbing robot |
| CN103008304B (en) * | 2012-12-10 | 2014-10-29 | 天津大学 | Turnover robot for sweeping parallel pipes |
| CN103594967A (en) * | 2013-11-21 | 2014-02-19 | 北京国网富达科技发展有限责任公司 | Overturning obstacle crossing type overhead line work robot |
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2014
- 2014-12-25 CN CN201410822080.9A patent/CN104626155B/en active Active
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| CN104626155A (en) | 2015-05-20 |
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Effective date of registration: 20180118 Address after: No. 1, No. 5, D, No. 258, Nantong street, Nangang District, Harbin, Heilongjiang Province, No. 5 Patentee after: Harbin gorgeous marine science and Technology Co., Ltd. Address before: 150001 Heilongjiang, Nangang District, Nantong street,, Harbin Engineering University, Department of Intellectual Property Office Patentee before: Harbin Engineering Univ. |
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Effective date of registration: 20210812 Address after: 150001 No. 1, 1 D, cultural home, 258 Nantong street, Nangang District, Harbin, Heilongjiang. Patentee after: Harbin banzhilan Marine Technology Co.,Ltd. Address before: 150001 No. 1, 1 D, cultural home, 258 Nantong street, Nangang District, Harbin, Heilongjiang. Patentee before: Harbin gorgeous marine science and Technology Co.,Ltd. |
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| TR01 | Transfer of patent right |