CN105437224B - For gripping the turning manipulator of collision prevention girders - Google Patents
For gripping the turning manipulator of collision prevention girders Download PDFInfo
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- CN105437224B CN105437224B CN201510998167.6A CN201510998167A CN105437224B CN 105437224 B CN105437224 B CN 105437224B CN 201510998167 A CN201510998167 A CN 201510998167A CN 105437224 B CN105437224 B CN 105437224B
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- vertical
- horizontal
- collision prevention
- prevention girders
- motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of turning manipulator for being used to grip collision prevention girders, including：Horizontal movement component, including horizontal motor, horizontal conveyor part and horizontal connecting plate；Vertical motion assemblies, it is installed on the horizontal connecting plate, the horizontal connecting plate drives the vertical motion assemblies horizontal movement；The vertical motion assemblies include motor vertical, vertical-transmission part and vertical center web；And upset component, it is installed on the vertical center web；The upset component includes upset motor and the jaw being oppositely arranged, and the jaw being oppositely arranged can grip collision prevention girders, the jaw upset that the upset motor driving is oppositely arranged.Required angle can be overturn by the collision prevention girders in jaw and its like parts by overturning component, and it is fixed, vertical motion assemblies thereon are driven to move by horizontal movement component again, vertical motion assemblies drive upset component movement thereon, so that turning manipulator automaticity is high, it is easy to crawl and upset.
Description
Technical field
The present invention relates to manipulator technical field, more particularly to a kind of turning manipulator for being used to grip collision prevention girders.
Background technology
At present, collision prevention girders are to absorb a kind of device of collision energy when vehicle is collided for mitigating, main to include master
Beam, energy-absorption box and the installing plate for connecting automobile.Girder, energy-absorption box can effectively absorb when low speed collision occurs for vehicle to be touched
Energy is hit, reduces infringement of the impact to chassis runner as far as possible, by thus having played its protective effect to vehicle.But
It is, in order to which the collision prevention girders part that will be glued carries out boring the operational sequence of riveting, it is necessary to which collision prevention girders are captured from pipeline,
Turn over again and turn 90 degrees fixation, and current equipment can not meet this requirement, be not easy to user's use.
The content of the invention
Based on this, it is necessary to for current collision prevention girders conveying with overturn it is inconvenient the problem of, there is provided one kind can be easy to
The turning manipulator for being used to grip collision prevention girders of the conveying of collision prevention girders and upset.
Above-mentioned purpose is achieved through the following technical solutions：
A kind of turning manipulator for being used to grip collision prevention girders, including：
Horizontal movement component, including horizontal motor, horizontal conveyor part and horizontal connecting plate, described in horizontal motor driving
Driving member drives the horizontal connecting plate horizontal movement；
Vertical motion assemblies, it is installed on the horizontal connecting plate, the horizontal connecting plate drives the vertical movement group
Part horizontal movement；The vertical motion assemblies include motor vertical, vertical-transmission part and vertical center web, and the motor vertical drives
The dynamic vertical-transmission part drives the vertical center web vertical movement；And
Component is overturn, is installed on the vertical center web, the vertical center web drives the upset component vertically to transport
It is dynamic；The upset component, which includes upset motor and the jaw being oppositely arranged, the jaw being oppositely arranged, can grip collision prevention girders,
The jaw upset that the upset motor driving is oppositely arranged.
In one of the embodiments, the turning manipulator for being used to grip collision prevention girders also includes crossbeam, the upset
Component is installed on the vertical center web by the crossbeam.
In one of the embodiments, the upset component also includes adjustment cylinder, the adjustment cylinder and the jaw
Connection, the adjustment cylinder can adjust the position of the jaw to capture or unclamp the collision prevention girders.
In one of the embodiments, the upset component also includes magnetic valve, the magnetic valve and the adjustment cylinder
Connection, adjustment cylinder stretches out or retracted described in the solenoid valve control, and then adjusts described in the jaw crawl or release
Position during collision prevention girders.
In one of the embodiments, the upset component also includes anticollison block, and the anticollison block is arranged at the jaw
Lower end, the anticollison block can be spacing to the vertical lowering motions of the vertical motion assemblies.
In one of the embodiments, the horizontal movement component also includes horizontal level detection sensor and horizontal support
Plate, the horizontal motor, the horizontal conveyor part and the horizontal level detection sensor are mounted on the horizontal supporting plate
On, the horizontal level detection sensor can detect the movement position of the horizontal conveyor part；
The vertical motion assemblies also include upright position detection sensor and vertical support plate, the motor vertical, institute
State vertical-transmission part and the upright position detection sensor is mounted in the vertical support plate, the upright position detection
Sensor can detect the movement position of the vertical-transmission part；
The upset component also includes upturned position detection sensor, and the upturned position detection sensor is arranged at described
On crossbeam.
In one of the embodiments, the horizontal motor, the motor vertical are to have to stop with the upset motor
The stepper motor of car.
In one of the embodiments, the horizontal conveyor part includes horizontal linear guide rail and horizontal ball-screw；
The horizontal ball-screw is connected with the output end of the horizontal motor, and the horizontal connecting plate is installed on the water
On flat line guide rail, the horizontal motor driving horizontal ball-screw drives the horizontal connecting plate along the horizontal linear
Guide rail moves；
The vertical-transmission part includes vertical line guide rail and vertical ball-screw；
The vertical ball-screw is connected with the output end of the motor vertical, and the vertical center web is installed on described hang down
On straight line slideway, the motor vertical driving vertical ball-screw drives the vertical center web along the vertical line
Guide rail moves.
In one of the embodiments, the turning manipulator for being used to grip collision prevention girders also includes horizontal protective cover and hung down
Straight protective cover；
The horizontal protective cover cover sets the horizontal linear guide rail and the horizontal ball-screw；
The vertical protective cover cover sets the vertical line guide rail and the vertical ball-screw.
In one of the embodiments, the turning manipulator for being used to grip collision prevention girders also includes base, the level
Moving parts are installed on the base；
And the base aluminum alloy materials are made.
The beneficial effects of the invention are as follows：
The turning manipulator for being used to grip collision prevention girders of the present invention, structure design advantages of simple, by the gas for overturning component
Claw clip takes the crawl of collision prevention girders and its like parts, and the collision prevention girders in jaw and its like parts can be overturn institute by upset component
The angle needed, and collision prevention girders and its like parts are fixed, then the vertical motion assemblies by the drive of horizontal movement component thereon
Motion, vertical motion assemblies drive upset component movement thereon so that the turning mechanical for being used to grip collision prevention girders of the invention
Hand automaticity is high, is easy to the crawl, upset and transport of part, is easy to use.
Brief description of the drawings
Fig. 1 is the stereogram for being used to grip the turning manipulator of collision prevention girders of one embodiment of the invention；
Fig. 2 is the front view for being used to grip the turning manipulator of collision prevention girders shown in Fig. 1；
Fig. 3 is that schematic diagram when component overturns 90 ° is overturn in the turning manipulator for being used to grip collision prevention girders shown in Fig. 1；
Fig. 4 is the pneumatic schematic diagram for being used to grip the turning manipulator of collision prevention girders of the present invention；
Wherein：
100- is used for the turning manipulator for gripping collision prevention girders；
110- horizontal movement components；
120- vertical motion assemblies；
130- overturns component；131- jaws；132- adjusts cylinder；
140- crossbeams；
150- bases；
160- drag chains；
200- collision prevention girders.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, by the following examples, and combine attached
Figure, the turning manipulator for being used to grip collision prevention girders of the present invention is further elaborated.It is it should be appreciated that described herein
Specific embodiment only to explain the present invention, be not intended to limit the present invention.
It is anti-for gripping the invention provides a kind of turning manipulator 100 for being used to grip collision prevention girders referring to Fig. 1 to Fig. 3
Beam 200 and its similar part are hit, in order to the operation processing of collision prevention girders 200 and its similar part progress subsequent processing.With
Include horizontal movement component 110, vertical motion assemblies 120 and upset component 130 in the turning manipulator 100 of gripping collision prevention girders.
In the present invention, upset component 130 can drive the collision prevention girders 200 of its crawl and its similar part to do flip-flop movement；
Upset component 130 is installed in vertical motion assemblies 120, and vertical motion assemblies 120 can move vertically, vertical motion assemblies
120 drive upset component 130 thereon together to move vertically；Vertical motion assemblies 120 are installed on horizontal movement component 110
On, horizontal movement component 110 can move horizontally, that is, overturn component 130 and be mounted on horizontal fortune with vertical motion assemblies 120
On dynamic component 110, horizontal movement component 110 drives vertical motion assemblies 120 thereon and upset component 130 together to do horizontal fortune
It is dynamic.Upset component 130 can make collision prevention girders 200 and its similar fitting turnover to required angle, and horizontal movement component 110
Collision prevention girders 200 and its similar part can be transported to desired position with vertical motion assemblies 120, it is convenient and swift, automatically
Change degree is high, is easy to use.
Specifically, horizontal movement component 110 includes horizontal motor, horizontal conveyor part and horizontal connecting plate, horizontal motor drives
Dynamic driving member drives horizontal connecting plate horizontal movement.Horizontal motor is the turning manipulator for being used to grip collision prevention girders of the invention
100 horizontal movement provides power, and the output end of horizontal motor is connected with horizontal conveyor part, and horizontal conveyor part can transmit level
The drive force horizontal connecting plate of motor moves horizontally.
Vertical motion assemblies 120 are installed on horizontal connecting plate, and horizontal connecting plate drives the horizontal fortune of vertical motion assemblies 120
It is dynamic；Vertical motion assemblies 120 include motor vertical, vertical-transmission part and vertical center web, motor vertical driving vertical-transmission part
Drive vertical center web vertical movement.Horizontal connecting plate can drive vertical motion assemblies 120 1 thereon when moving horizontally
With moving horizontally, meanwhile, vertical motion assemblies 120 can also move vertically so that of the invention to be used to grip collision prevention girders
Horizontal movement and the vertical movement of turning manipulator 100 will not interfere phenomenon, ensure stable movement.Motor vertical is this
Invention be used for grip collision prevention girders turning manipulator 100 vertical movement provide power, the output end of motor vertical with it is vertical
Driving member connects, and the drive force vertical center web that vertical-transmission part can transmit motor vertical moves vertically.
Upset component 130 is installed on vertical center web, and vertical center web drives upset component 130 to move vertically；Upset
Component 130, which includes upset motor and the jaw 131 being oppositely arranged, the jaw 131 being oppositely arranged, can grip collision prevention girders 200, turn over
The jaw 131 that rotating motor driving is oppositely arranged is overturn.Upset component 130 can drive the collision prevention girders 200 and its similar that it is captured
Part do flip-flop movement, and, the angle of upset is 0 °~200 °, to meet the use demand of different Working positions.Vertically connect
Fishplate bar can drive upset component 130 thereon together to move vertically when moving vertically, meanwhile, upset component 130 may be used also
To do flip-flop movement so that the vertical movement for being used to grip the turning manipulator 100 of collision prevention girders of the invention and flip-flop movement are not
Phenomenon can be interfered, ensures stable movement.Upset motor is the turning manipulator 100 for being used to grip collision prevention girders of the present invention
Flip-flop movement provides power, and upset component 130 also includes flip-arm, and flip-arm is installed in the output end of upset motor, jaw
131 are connected by the output end of flip-arm and upset motor, and then upset motor can control what is be oppositely arranged by flip-arm
Jaw 131 drives collision prevention girders 200 and its similar fitting turnover to required angle, and upset motor self-locking is by collision prevention girders after upset
200 and its similar part fix, in order to the operation of subsequent handling.It is of the invention to be used to grip turning over for collision prevention girders referring to Fig. 3
Position when turning the gripping collision prevention girders 200 of jaw 131 of manipulator 100 is the location A shown in Fig. 3, for gripping turning over for collision prevention girders
After 90 ° of the upset of upset component 130 for turning manipulator 100, the position of collision prevention girders 200 is the B location shown in Fig. 3.
At present, collision prevention girders are to absorb a kind of device of collision energy when vehicle is collided for mitigating.But in order to incite somebody to action
The collision prevention girders part being glued bore the operational sequence of riveting, it is necessary to collision prevention girders be captured from pipeline, then overturn 90
Degree is fixed, and current equipment can not meet this requirement, is not easy to user's use.Referring to Fig. 1 to Fig. 3, of the invention is used for
The turning manipulator 100 for gripping collision prevention girders grips collision prevention girders 200 and its like parts by overturning the jaw 131 of component 130
Crawl, upset component 130 collision prevention girders 200 in jaw 131 and its like parts can be overturn needed for angle, and by anticollision
Beam and its like parts are fixed, then drive vertical motion assemblies 120 thereon to move by horizontal movement component 110, vertical fortune
Dynamic component 120 drives upset component 130 thereon to move so that the turning manipulator 100 for being used to grip collision prevention girders of the invention
Automaticity is high, is easy to the crawl, upset and transport of part, is easy to use.
As a kind of embodiment, the turning manipulator 100 for gripping collision prevention girders also includes base 150, level fortune
Dynamic component 110 is installed on base 150；And the aluminum alloy materials of base 150 are made.Part based on base 150, for propping up
Support is entirely used for the turning manipulator 100 for gripping collision prevention girders.Base 150 includes frame structure, side plate and top plate, side plate and top plate
It is mounted in frame structure.Horizontal movement component 110 is installed on the top plate of base 150.The frame structure of base 150 uses
Aluminium alloy extrusions is formed by connecting by connector, the side plate and top plate of base 150 processed using high-strength aluminum alloy material and
Into, it is ensured that whole base 150 has high rigidity and enough stability.Meanwhile the support of base 150 uses 4 adjustably
Pin disk, it is horizontal can easily to adjust base 150.In addition, base 150 can also be connected by connector and pipeline basis
Connect fixation.
As a kind of embodiment, the turning manipulator 100 for gripping collision prevention girders also includes crossbeam 140, upset group
Part 130 is installed on vertical center web by crossbeam 140.Crossbeam 140 is similar to cantilever beam structure, can play a supporting role,
Upset component 130 is installed on the end of crossbeam 140, supports upset component 130 by crossbeam 140 so that upset component 130 is fixed
It is firm, then ensure that vertical center web drives upset component 130 together to do the synchronism to move vertically.Further, upset group
Part 130 is installed on the end of crossbeam 140 by two taper roll bearings, and taper roll bearing can support upset component 130, together
When can also ensure that upset component 130 flip-flop movement will not be interfered with the vertical movement of vertical motion assemblies 120.Circular cone
The axial locking of roller bearing is realized using locking nut, it is ensured that taper roll bearing is fixed reliably, will not occur axially to alter
It is dynamic.
As a kind of embodiment, upset component 130 also includes adjustment cylinder 132, adjustment cylinder 132 and jaw 131
Connection, adjustment cylinder 132 can adjust the position of jaw 131, so that jaw 131 can capture or unclamp collision prevention girders 200.Adjust
Whole cylinder 132 adjusts the movement position of jaw 131, and jaw 131 is for capturing or unclamping collision prevention girders 200 and its similar zero
Part.Increase the free degree that jaw 131 is moved by setting adjustment cylinder 132 in the jaw 131 being oppositely arranged, extend work
Performance.Furthermore it is possible to met by the quantity for increasing end effector in jaw 131 and the shape for changing end effector
The crawl of various parts and rotary movement, to extend and extend the application scenario of the turning manipulator of the present invention.Specifically, adjustment
The effective travel of cylinder 132 is 60mm~80mm, concretely 75mm；The pine folder stroke of jaw 131 is 30mm~60mm.And
And the horizontal movement stroke of horizontal movement component 110 is 200mm ± 0.05mm；The vertical movement stroke of vertical motion assemblies 120
For 200mm ± 0.05mm.The weight of maximum grabbing workpiece is 25Kg.
As a kind of embodiment, the turning manipulator 100 for gripping collision prevention girders also includes magnetic valve, magnetic valve with
Adjustment cylinder 132 connects, and solenoid valve control adjustment cylinder 132 stretches out or retracted, and then adjusts the position of jaw 131 to capture
Or unclamp collision prevention girders 200.Magnetic valve is 3 position-5 way magnetic valve, the corresponding 3 position-5 way magnetic valve of adjustment cylinder 132, gas
The corresponding 3 position-5 way solenoid directional control valve of pawl 131.Turning manipulator 100 for gripping collision prevention girders also includes source of the gas, passes through
Pressure regulator valve is transferred to 3 position-5 way magnetic valve, and, specific pneumatic relationships are as shown in the table, and referring to Fig. 4, are realized by source of the gas
The synchronization action of cylinder 132 is adjusted, equally, jaw 131 realizes synchronization action also by source of the gas.Pass through 3 position-5 way electromagnetic switch
Valve controls the stretching of cylinder and retraction, controls the release and crawl of jaw 131.Also, when solenoid directional control valve is located at middle position shape
During state, it is possible to achieve the self-locking of cylinder or jaw 131.
| Action | 1DT | 2DT | 3DT | 4DT |
| Clamp | - | + | + | - |
| Unclamp | + | - | - | + |
| Self-locking is kept | - | - | - | - |
Referring to Fig. 1 to Fig. 3, as a kind of embodiment, upset component 130 also includes anticollison block, and anticollison block is arranged at
The lower end of jaw 131, anticollison block can be spacing to the vertical lowering motions of vertical motion assemblies 120.Anticollison block is arranged at upset
The lower section of the jaw 131 of component 130, anticollison block can play a part of anticollision, ensure the reliability of upset component 130.When vertical
When the drive upset component 130 of moving parts 120 moves vertically downwards, anticollison block can prevent that overturning component 130 bumps against base
On 150 top plate, ensure that upset component 130 operates steadily, and then ensure entirely to be used for the turning manipulator 100 for gripping collision prevention girders
Reliability of operation.
As a kind of embodiment, horizontal movement component 110 also includes horizontal level detection sensor and horizontal support
Plate.Horizontal supporting plate can play a supportive role, and horizontal motor, horizontal conveyor part and horizontal level detection sensor are mounted on water
In flat supporting plate, with other parts in support level moving parts 110.Vertical motion assemblies 120 also include upright position
Detection sensor and vertical support plate, motor vertical, vertical-transmission part and upright position detection sensor are mounted on vertically propping up
On fagging, to support other parts in vertical motion assemblies 120.Overturning component 130 also includes upturned position detection sensing
Device, upturned position detection sensor are arranged on crossbeam 140.
Horizontal level detection sensor is used for the specified location whether detection level moving parts 110 move to requirement, really
The correct execution of the horizontal movement flow of the flat moving parts 110 of water conservation, and then ensure the turning manipulator for gripping collision prevention girders
100 can correctly run.Specifically, horizontal level detection sensor is capable of the movement position of detection level driving member.Vertical position
Put detection sensor to be used to detect the specified location whether vertical motion assemblies 120 move to requirement, it is ensured that vertical motion assemblies
The correct execution of 120 vertical movement flow, and then ensure correctly to transport for gripping the turning manipulator 100 of collision prevention girders
OK.Specifically, upright position detection sensor can detect the movement position of vertical-transmission part.Upturned position detection sensor is used
The specified location of requirement whether is moved in detection turnover motion component, it is ensured that the flip-flop movement flow of turnover motion component is just
Really perform, and then ensure correctly to run for gripping the turning manipulator 100 of collision prevention girders.Specifically, upturned position detects
Sensor can detect the movement position of jaw 131.
In addition, horizontal level detection sensor, upright position detection sensor and upturned position detection sensor can be with
Each extreme position of respective horizontal movement component 110, vertical motion assemblies 120 and upset component 130 is defined, prevented
Only collision or overtravel operation.In addition, the flip angle of upset component 130 is variable, passed by being detected to upturned position
Adjusting to meet that the upset of different angle is fixed for sensor, realizes the processing request of part different parts.
As a kind of embodiment, horizontal motor, motor vertical and upset motor are the stepper motor with brake.
Horizontal motor, motor vertical and upset motor are using the stepper motor with brake function, it is ensured that for gripping anticollision
Horizontal movement component 110, vertical motion assemblies 120 and the upset component 130 of the turning manipulator 100 of beam stop in any position
Only, to carry out corresponding flow chart.According to action request, horizontal movement component 110 and the most fast freight of vertical motion assemblies 120
Dynamic speed is 1m/s；The rotary movement for overturning component 130 requires the complete upset in 90 ° in 1s, so increasing before upset motor
Acceleration and deceleration device, to reduce rotating speed and expand turning torque.Specifically, the speed of decelerator is than being 50.
As a kind of embodiment, horizontal conveyor part includes horizontal linear guide rail and horizontal ball-screw；Horizontal ball
The output end of leading screw and horizontal motor is connected, and horizontal connecting plate is installed on horizontal linear guide rail, the horizontal rolling of horizontal motor driving
Ballscrew drives horizontal connecting plate to be moved along horizontal linear guide rail.Horizontal connecting plate is driven by horizontal ball-screw, and along
Horizontal linear guide rail moves, to ensure the smoothness of horizontal movement.Vertical-transmission part includes vertical line guide rail and vertical ball
Leading screw；The output end of vertical ball-screw and motor vertical is connected, and vertical center web is installed on vertical line guide rail, vertical electricity
Machine drives vertical ball-screw to drive vertical center web to be moved along vertical line guide rail.Vertical center web passes through vertical ball-screw
Drive, and moved along vertical line guide rail, to ensure the smoothness of vertical movement.
Further, horizontal protective cover and vertical protective cover are also included for gripping the turning manipulator 100 of collision prevention girders；Water
Flat protective cover cover sets horizontal linear guide rail and horizontal ball-screw；Vertical protective cover cover sets vertical line guide rail and vertical ball wire
Thick stick.Horizontal protective cover and vertical protective cover can effectively prevent dust and chip from entering horizontal linear guide rail and horizontal ball
Leading screw, vertical line guide rail and vertical ball-screw, it is ensured that the whole motion essence for being used to grip the turning manipulator 100 of collision prevention girders
Degree and the reliability of work.
The turning manipulator 100 for being used to grip collision prevention girders of the present invention also includes drag chain 160, whole to be used to grip collision prevention girders
Cable and the pipeline of turning manipulator 100 may be contained within drag chain 160, prevent horizontal movement component 110, vertical motion assemblies
120 and upset component 130 can prevent cable and pipeline from wearing and winding in motion, prevent cable and conduit failure, and then
Ensure reliable for the sports safety of turning manipulator 100 that grips collision prevention girders.
The present invention be used for grip collision prevention girders turning manipulator 100 it is simple and compact for structure, there are 4 freedom of motion
Degree, the crawl upset process of collision prevention girders 200 and like parts can be met well.Horizontal movement component 110, vertical movement group
Horizontal movement, vertical movement and the flip-flop movement of part 120 and upset component 130 by horizontal motor, motor vertical and turn over respectively
Rotating motor is controlled to realize, the movement and clamping or release of jaw 131 pass through solenoid valve control and realized.The present invention's is used to press from both sides
Take the turning manipulator 100 of collision prevention girders to can be widely applied to industrial production manufacture every field, enterprise can be increased substantially
The automaticity of industry production procedure.In addition its structure uses Modular Flexible architecture design, follow-up various functions autgmentability
By force, operate and safeguard simply, there is wide market application foreground.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
- A kind of 1. turning manipulator for being used to grip collision prevention girders, it is characterised in that including：Horizontal movement component, including horizontal motor, horizontal conveyor part and horizontal connecting plate, the horizontal motor drive the transmission Part drives the horizontal connecting plate horizontal movement；Vertical motion assemblies, it is installed on the horizontal connecting plate, the horizontal connecting plate drives the vertical motion assemblies water Flat motion；The vertical motion assemblies include motor vertical, vertical-transmission part and vertical center web, and the motor vertical drives institute State vertical-transmission part and drive the vertical center web vertical movement；AndComponent is overturn, is installed on the vertical center web, the vertical center web drives the upset component vertical movement；Institute Anticollision can be gripped including upset motor, the jaw being oppositely arranged and flip-arm, the jaw being oppositely arranged by stating upset component Beam, the flip-arm are installed in the output end of the upset motor, and the jaw is connected with the flip-arm, the upset electricity The jaw that machine is oppositely arranged by flip-arm control drives the collision prevention girders to overturn to required angle.
- 2. the turning manipulator according to claim 1 for being used to grip collision prevention girders, it is characterised in that also including crossbeam, institute Upset component is stated to be installed on the vertical center web by the crossbeam.
- 3. the turning manipulator according to claim 2 for being used to grip collision prevention girders, it is characterised in that the upset component is also Including adjusting cylinder, the adjustment cylinder is connected with the jaw, it is described adjust cylinder can adjust the position of the jaw with Capture or unclamp the collision prevention girders.
- 4. the turning manipulator according to claim 3 for being used to grip collision prevention girders, it is characterised in that the upset component is also Including magnetic valve, the magnetic valve is connected with the adjustment cylinder, and cylinder is adjusted described in the solenoid valve control and stretches out or contracts Position when returning, and then adjusting the jaw crawl or unclamp the collision prevention girders.
- 5. the turning manipulator according to claim 4 for being used to grip collision prevention girders, it is characterised in that the upset component is also Including anticollison block, the anticollison block is arranged at the lower end of the jaw, and the anticollison block can be to the vertical motion assemblies Vertical lowering motion is spacing.
- 6. the turning manipulator according to claim 5 for being used to grip collision prevention girders, it is characterised in that the horizontal movement group Part also includes horizontal level detection sensor and horizontal supporting plate, the horizontal motor, the horizontal conveyor part and the level Position-detection sensor is mounted on the horizontal supporting plate, and the horizontal level detection sensor can detect the level The movement position of driving member；The vertical motion assemblies also include upright position detection sensor and vertical support plate, the motor vertical, described hang down Direct transfer moving part and the upright position detection sensor is mounted in the vertical support plate, the upright position detection sensing Device can detect the movement position of the vertical-transmission part；The upset component also includes upturned position detection sensor, and the upturned position detection sensor is arranged at the crossbeam On.
- 7. the turning manipulator for being used to grip collision prevention girders according to any one of claim 1 to 6, it is characterised in that described Horizontal motor, the motor vertical and the upset motor are the stepper motor with brake.
- 8. the turning manipulator according to claim 7 for being used to grip collision prevention girders, it is characterised in that the horizontal conveyor part Including horizontal linear guide rail and horizontal ball-screw；The horizontal ball-screw is connected with the output end of the horizontal motor, and the horizontal connecting plate is installed on described horizontal straight On line guide rail, the horizontal motor driving horizontal ball-screw drives the horizontal connecting plate along the horizontal linear guide rail Motion；The vertical-transmission part includes vertical line guide rail and vertical ball-screw；The vertical ball-screw is connected with the output end of the motor vertical, and the vertical center web is installed on described vertical straight On line guide rail, the motor vertical driving vertical ball-screw drives the vertical center web along the vertical line guide rail Motion.
- 9. the turning manipulator according to claim 8 for being used to grip collision prevention girders, it is characterised in that also including horizontal protective Cover and vertical protective cover；The horizontal protective cover cover sets the horizontal linear guide rail and the horizontal ball-screw；The vertical protective cover cover sets the vertical line guide rail and the vertical ball-screw.
- 10. the turning manipulator according to claim 1 for being used to grip collision prevention girders, it is characterised in that also including base, institute Horizontal movement component is stated to be installed on the base；And the base aluminum alloy materials are made.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510998167.6A CN105437224B (en) | 2015-12-25 | 2015-12-25 | For gripping the turning manipulator of collision prevention girders |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510998167.6A CN105437224B (en) | 2015-12-25 | 2015-12-25 | For gripping the turning manipulator of collision prevention girders |
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| CN105437224A CN105437224A (en) | 2016-03-30 |
| CN105437224B true CN105437224B (en) | 2017-12-29 |
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| CN201510998167.6A Active CN105437224B (en) | 2015-12-25 | 2015-12-25 | For gripping the turning manipulator of collision prevention girders |
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| WO2018183819A2 (en) * | 2017-03-30 | 2018-10-04 | Soft Robotics, Inc. | Servo-pneumatic control systems for soft robotic actuators |
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| CN203853994U (en) * | 2014-05-14 | 2014-10-01 | 河北科技大学 | Carrying manipulator with multiple degrees of freedom |
| CN204135219U (en) * | 2014-08-06 | 2015-02-04 | 苏州青林自动化设备有限公司 | Automatic reversible table |
| CN204297635U (en) * | 2014-12-03 | 2015-04-29 | 江苏渔歌子家具有限公司 | With the bed mattress edge-enclosing transport platform of self-turnover |
| CN204843139U (en) * | 2015-08-31 | 2015-12-09 | 浙江百博机械科技有限公司 | Manipulator about saw blade is automatic |
| CN205272023U (en) * | 2015-12-25 | 2016-06-01 | 中国科学院宁波材料技术与工程研究所 | A flipping robot for pressing from both sides get crashproof roof beam |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3790759B2 (en) * | 2003-10-17 | 2006-06-28 | ファナック株式会社 | Robot hand and handling robot system |
| JP4553025B2 (en) * | 2008-03-26 | 2010-09-29 | 株式会社デンソーウェーブ | Suspension robot |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203853994U (en) * | 2014-05-14 | 2014-10-01 | 河北科技大学 | Carrying manipulator with multiple degrees of freedom |
| CN204135219U (en) * | 2014-08-06 | 2015-02-04 | 苏州青林自动化设备有限公司 | Automatic reversible table |
| CN204297635U (en) * | 2014-12-03 | 2015-04-29 | 江苏渔歌子家具有限公司 | With the bed mattress edge-enclosing transport platform of self-turnover |
| CN204843139U (en) * | 2015-08-31 | 2015-12-09 | 浙江百博机械科技有限公司 | Manipulator about saw blade is automatic |
| CN205272023U (en) * | 2015-12-25 | 2016-06-01 | 中国科学院宁波材料技术与工程研究所 | A flipping robot for pressing from both sides get crashproof roof beam |
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| CN105437224A (en) | 2016-03-30 |
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