CN112643649A - Large-scale workpiece manipulator device - Google Patents
Large-scale workpiece manipulator device Download PDFInfo
- Publication number
- CN112643649A CN112643649A CN202011375944.9A CN202011375944A CN112643649A CN 112643649 A CN112643649 A CN 112643649A CN 202011375944 A CN202011375944 A CN 202011375944A CN 112643649 A CN112643649 A CN 112643649A
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- Prior art keywords
- telescopic
- clamping
- arc plate
- cylinder
- lifting
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Classifications
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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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
- B25J9/02—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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a large-scale workpiece manipulator device, which solves the problem of poor flexibility of a manipulator in the prior art, and comprises a supporting tube, a telescopic mechanical arm, a clamping device, a rotating device, a lifting device and a telescopic device, wherein the rotating device is arranged on the upper supporting tube to drive the lower supporting tube to rotate, the lifting device is arranged in the upper supporting tube to drive the lower supporting tube to carry out lifting motion, when the lower supporting tube carries out rotating motion or lifting motion, the telescopic mechanical arm can be driven to move together, the telescopic mechanical arm can drive the clamping device to move together, so that the lifting motion and the rotating motion of the clamping device are realized, the telescopic device is arranged in the telescopic mechanical arm, the telescopic mechanical arm can be driven to carry out telescopic motion in the horizontal direction, so that the clamping device is driven to move in the horizontal direction, and the, the clamping device is more flexible, the clamping angle can be freely adjusted, and the applicability is good.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a large-sized workpiece manipulator device.
Background
In present mechanical automation field, the manipulator is widely used in fields such as assembly and transport, and the manipulator is mostly with small-size single, high-speed endless mode work, need a plurality of manipulators to cooperate the work simultaneously when needing to accomplish multistep operation, the higher and needs to do a large amount of complicated adjustments before the work, and need dismantle fixed device just can remove after accomplishing the work, the flexibility is relatively poor, the installation is fixed when using a large amount of manipulators and also needs a large amount of time, time cost is high, technical requirement is also very high. In the field of large-scale (several tons or dozens of tons) workpiece manipulators, structural strength, transmission capacity, control precision and composite action integrity are important technical indexes.
Disclosure of Invention
The invention has been made in view of the above problems, and an object of the invention is to provide a large-sized workpiece manipulator device which can move in all directions and in multiple directions, is optimized for a large-sized workpiece in a transmission form, uses a transmission device with a small volume and a high energy density, saves space and cost, is simple and convenient to manufacture, and achieves accurate control precision by acquisition of a sensor and programmable operation of a PLC in the manipulator control aspect, thereby saving use cost and operation time.
To achieve the above object, the present invention provides a large-sized workpiece robot apparatus including:
the support tube comprises an upper support tube and a lower support tube, and the upper end of the lower support tube is movably arranged in the upper support tube;
the telescopic mechanical arm is connected with the lower end of the lower supporting pipe;
the clamping device is connected with one end of the telescopic mechanical arm;
the rotating device is used for driving the lower supporting pipe to rotate;
the lifting device is used for driving the lower supporting pipe to lift;
the telescopic device is used for driving the telescopic mechanical arm to stretch.
According to the large-scale workpiece manipulator device, the upper supporting tube comprises an outer tube and an inner tube, the inner tube is movably arranged in the outer tube, and a guide arc plate is arranged on the inner wall of the inner tube.
According to the large-scale workpiece manipulator device, the rotating device comprises a swing oil cylinder, the swing oil cylinder is arranged at the upper end of the upper supporting pipe, an output shaft is arranged on the swing oil cylinder and drives the inner pipe to rotate, one end of the guide arc plate is attached to the inner wall of the inner pipe, and the other end of the guide arc plate is attached to the lower supporting pipe.
According to the large-sized workpiece manipulator device, the flange is arranged on the outer side of the output shaft and connected with the top of the inner pipe.
According to the large-scale workpiece manipulator device, the lifting device comprises a lifting oil cylinder, the lifting oil cylinder is arranged in the inner pipe, a lifting piston rod is arranged on the lifting oil cylinder, one end of the lifting piston rod is connected with the lifting oil cylinder, and the other end of the lifting piston rod is connected with the lower supporting pipe.
According to the large-scale workpiece manipulator device, the telescopic mechanical arm comprises a fixed part and a telescopic part, the lower end of the lower supporting tube is connected with the top of the fixed part, one end of the telescopic part is movably arranged in the fixed part, and the other end of the telescopic part is connected with the clamping device.
According to the large-scale workpiece manipulator device, the telescopic device comprises a telescopic oil cylinder, the telescopic oil cylinder is arranged in the fixed part, a telescopic piston rod is arranged at one end of the telescopic oil cylinder, and the telescopic piston rod is connected with the telescopic part.
According to a large-scale work piece manipulator device, clamping device includes that first armful clamp arc board, second are embraced and are pressed from both sides arc board and press from both sides tight hydro-cylinder, first armful clamp arc board one end with pars contractilis one end fixed connection, second embrace clamp arc board one end with first armful clamp arc board one end rotatable coupling, press from both sides tight hydro-cylinder setting and be in the second is embraced and is pressed from both sides arc board side to drive the second is embraced and is pressed from both sides the arc board other end and keep away from or be close to first armful clamp arc board one side motion.
According to the large-sized workpiece manipulator device, one end of the first clamping arc plate fixedly connected with the telescopic part is rotatably connected with one end of the second clamping arc plate through the rotating shaft, the side face of the second clamping arc plate is provided with the lug plate, the clamping oil cylinder is provided with the clamping piston rod, and one end of the clamping piston rod is connected with the lug plate.
According to the large-sized workpiece manipulator device, the reinforcing plates are arranged on the outer sides of the first clamping arc plate and the second clamping arc plate.
The invention has the following beneficial effects:
1. the rotary device is arranged in the mechanical arm, so that the mechanical arm can be driven to rotate integrally, the lifting device is used for driving the mechanical arm to lift integrally, the telescopic device is used for enabling the clamping device to move back and forth in the horizontal direction, the mechanical arm is high in integral controllability and flexible, and the function which can be realized by a plurality of mechanical arms can be realized only by one mechanical arm.
2. The guide arc plate is adopted to drive the lower supporting pipe to swing, and when the lower supporting pipe moves along the length direction of the lower supporting pipe, the guide arc plate cannot block the lifting movement of the lower supporting pipe.
3. The clamping device is provided with a fixed first clamping arc plate and a rotatable second clamping arc plate which form a clamping part, so that the clamping diameter of the clamping part can be changed, and objects with different diameters can be clamped.
4. The outer sides of the first clamping arc plate and the second clamping arc plate are respectively provided with a reinforcing plate, so that the overall strength of a clamping part can be increased, and the maximum clamping weight of the clamping part is improved.
5. The optimized transmission form, the used transmission device has small volume and large energy density, and saves space and cost.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the inner tube of the present invention assembled with a rotating device;
FIG. 3 is a schematic view of the internal structure of the inner tube of the present invention;
FIG. 4 is a schematic view of the assembly of the elevator apparatus of the present invention with a lower support tube;
FIG. 5 is a schematic view of the assembly of the telescopic robot arm and the gripping device of the present invention;
fig. 6 is a schematic view of the internal structure of the telescopic mechanical arm of the invention.
Detailed Description
The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1 to 6, a large-sized workpiece robot apparatus includes:
the supporting tube 100, the supporting tube 100 includes an upper supporting tube 110 and a lower supporting tube 120, the upper end of the lower supporting tube 120 is movably disposed in the upper supporting tube 110, the supporting tube 100 is vertically disposed, and the lower supporting tube 120 is disposed in the upper supporting tube 110 through a lifting device 500.
And a rotating device 400 is arranged on the upper support pipe 110, the rotating device 400 comprises a swing cylinder 410, and the swing cylinder 410 can drive the lower support pipe 120 to rotate, so that the parts connected with the lower support pipe 120 rotate together.
The telescopic mechanical arm 200 is transversely arranged, can be driven by the lower supporting pipe 120 to do vertical lifting motion or rotating motion, can make telescopic motion along the horizontal direction, and is provided with a rib plate at the joint of the telescopic mechanical arm 200 and the lower supporting pipe 120, and the rib plate is used for enhancing the connection strength of the telescopic mechanical arm and the lower supporting pipe 120.
Clamping device 300, clamping device 300 meets with scalable arm 200 one end, it is connected for fixed connection, can adopt any mode that can fixed connection such as bolt, clamping device 300 just can be driven its rotation by scalable arm 200, go up and down and the translation, conveniently adjust the device position of clamping device 300, its adjustable scope is great, then clamping device 300's working range also increases thereupon, when object processing needs multiple processes, its clamping device 300 can cooperate its transform of accomplishing many movement tracks, just can realize the function that the manipulator cooperation could be realized among a plurality of prior art with a manipulator, can practice thrift great cost.
Preferably, the upper supporting tube 110 includes an outer tube 111 and an inner tube 112, the inner tube 112 is movably disposed in the outer tube 111, a guiding arc plate 113 is disposed on an inner wall of the inner tube 112, a joint is disposed at a lower end of the outer tube 111 and a lower end of the inner tube 112 for supporting the inner tube 112, and one end of the guiding arc plate 113 is directly fixed on the inner wall of the inner tube 112, and may be welded, and the guiding arc plate 113 moves along with the inner tube 112.
Further preferably, the swing cylinder 410 is provided with an output shaft 411, a flange 412 is arranged outside the output shaft 411, the flange 412 is connected to the top of the inner tube 112, the output shaft 411 drives the flange 412 to rotate, so as to drive the inner tube 112 to rotate together, one end of the guide arc plate 113 is attached to the inner wall of the inner tube 112, the other end of the guide arc plate 113 is attached to the lower support tube 120, the guide arc plate 113 drives the lower support tube 120 to rotate together, the outer tube 111 of the lower support tube remains stationary, the guide arc plates 113 are provided in plurality, the guide arc plates 113 can clamp the lower support tube 120 therein, so that the lower support tube 120 can only move up and down between the guide arc plates 113 and cannot move towards the side, and the guide arc plates 113 rotate to drive the lower support tube 120. Of course, in order to fix the output shaft 411, a self-aligning thrust roller bearing is provided on the side of the output shaft 411.
In this embodiment, in order to limit the distance between the lower support tube 120 and the inner tube 112 and to drive the lower support tube 120 to rotate, a guide bar 121 is disposed on the lower support tube 120, and a guide groove is disposed on the inner wall, and when assembled, the guide bar 121 is clamped in the guide groove and can only move up and down along the guide groove.
Preferably, the lifting device 500 includes a lifting cylinder 510, the lifting cylinder 510 is disposed in the inner tube 112, and a lifting piston rod is disposed on the lifting cylinder 510, one end of the lifting piston rod is connected to the lifting cylinder 510, and the other end is connected to the lower support tube 120, the lifting cylinder 510 is fixed in the inner tube 112 by a pin and can rotate along with the rotation of the inner tube 112, and a pin is also disposed at the lower end of the lifting piston rod, and both ends of the pin are fixed on the lower support tube 120, so that the lifting cylinder 510 drives the lifting piston rod to move up and down, and further drives the lower support tube 120 to move up and down.
Preferably, the telescopic robot arm 200 comprises a fixed portion 210 and a telescopic portion 220, the lower end of the lower support tube 120 is connected to the top of the fixed portion 210, one end of the telescopic portion 220 is movably disposed in the fixed portion 210, and the other end is connected to the clamping device 300.
Further preferably, the telescopic device 600 includes a telescopic cylinder 610, the telescopic cylinder 610 is disposed in the fixing portion 210, one end of the telescopic cylinder 610 is provided with a telescopic piston rod, the telescopic piston rod is connected to the telescopic portion 220, the telescopic cylinder 610 is fixed in the fixing portion 210 and drives the telescopic piston rod to move along the horizontal direction, the telescopic piston rod drives the telescopic portion 220 to perform telescopic movement along the horizontal direction, and then the telescopic portion 220 drives the clamping device 300 to move along the horizontal direction, of course, in order to avoid the telescopic portion 220 from moving out of the fixing portion 210 completely, an outlet of the fixing portion 210 should be provided with a limiting device for limiting the telescopic portion 220.
Preferably, the clamping device 300 includes a first holding arc plate 310, a second holding arc plate 320 and a clamping cylinder 330, one end of the first holding arc plate 310 is fixedly connected to one end of the telescopic portion 220, one end of the second holding arc plate 320 is rotatably connected to one end of the first holding arc plate 310, the clamping cylinder 330 is disposed at a side of the second holding arc plate 320 and drives the other end of the second holding arc plate 320 to move toward a side away from or close to the first holding arc plate 310, that is, the first holding arc plate 310 is fixed to be connected to the telescopic portion 220, one end of the second holding arc plate 320 is rotatably connected to the first holding arc plate 310, and the other end of the second holding arc plate can be driven by the clamping cylinder 330 to open and close for clamping and releasing.
Further preferably, one end of the first clamping arc plate 310 fixedly connected with the telescopic portion 220 is rotatably connected with one end of the second clamping arc plate 320 through a rotating shaft, an ear plate 321 is arranged on the side surface of the second clamping arc plate 320, a clamping piston rod 331 is arranged on the clamping cylinder 330, one end of the clamping piston rod 331 is connected with the ear plate 321, one end of a clamping cylinder 330 is fixed on the telescopic part 220, the other end is connected with the ear plate 321 through a clamping piston rod 331, the telescopic motion of the clamping piston rod 331 can drive one end of the second clamping arc plate 320 to move along an arc-shaped track through the ear plate 321, so that the clamping cylinder is far away from or close to the unfixed end of the first clamping arc plate 310, when the arc plate is close to the first clamping arc plate 310, the first clamping arc plate 310 and the second clamping arc plate 320 surround to clamp the processed product, when the clamping device moves away from the first clamping arc plate 310, the machined product clamped in the clamping device can be released, and clamping and releasing are achieved.
Further preferably, in order to ensure the strength of the first holding arc-clamping plate 310 and the second holding arc-clamping plate 320 and prevent the first holding arc-clamping plate 310 and the second holding arc-clamping plate 320 from being broken, reinforcing plates 340 are disposed outside the first holding arc-clamping plate 310 and the second holding arc-clamping plate 320.
The invention provides a large-scale workpiece manipulator device, which is characterized in that a supporting tube is arranged into an upper supporting tube and a lower supporting tube, a telescopic mechanical arm is arranged below the lower supporting tube, a clamping device is fixed at one end of the telescopic mechanical arm, a rotating device is arranged on the upper supporting tube to drive the lower supporting tube to rotate, a lifting device is arranged in the upper supporting tube to drive the lower supporting tube to perform lifting motion, when the lower supporting tube performs rotating motion or lifting motion, the telescopic mechanical arm can be driven to move together, the telescopic mechanical arm can drive the clamping device to move together, the lifting motion and the rotating motion of the clamping device are realized, a telescopic device is arranged in the telescopic mechanical arm, the telescopic mechanical arm can be driven to perform telescopic motion in the horizontal direction, the clamping device is driven to move in the horizontal direction, the multi-directional motion of the, the clamping angle can be freely adjusted, and the applicability is good.
The technical solutions of the present invention are explained in detail above with reference to the accompanying drawings, and the described embodiments are used to help understanding the idea of the present invention. The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (10)
1. A large workpiece robot apparatus, comprising:
the support tube comprises an upper support tube and a lower support tube, and the upper end of the lower support tube is movably arranged in the upper support tube;
the telescopic mechanical arm is connected with the lower end of the lower supporting pipe;
the clamping device is connected with one end of the telescopic mechanical arm;
the rotating device is used for driving the lower supporting pipe to rotate;
the lifting device is used for driving the lower supporting pipe to lift;
the telescopic device is used for driving the telescopic mechanical arm to stretch.
2. The large workpiece manipulator device according to claim 1, wherein the upper support tube comprises an outer tube and an inner tube, the inner tube is movably arranged in the outer tube, and a guide arc plate is arranged on the inner wall of the inner tube.
3. The large-sized workpiece manipulator device as claimed in claim 2, wherein the rotating device comprises a swing cylinder, the swing cylinder is arranged at the upper end of the upper support tube, an output shaft is arranged on the swing cylinder, the output shaft drives the inner tube to rotate, one end of the guide arc plate is attached to the inner wall of the inner tube, and the other end of the guide arc plate is attached to the lower support tube.
4. The large workpiece manipulator device according to claim 3, wherein a flange is arranged on the outer side of the output shaft and connected with the top of the inner pipe.
5. The large-sized workpiece manipulator device according to claim 2, wherein the lifting device comprises a lifting cylinder, the lifting cylinder is arranged in the inner tube, a lifting piston rod is arranged on the lifting cylinder, one end of the lifting piston rod is connected with the lifting cylinder, and the other end of the lifting piston rod is connected with the lower supporting tube.
6. The large workpiece manipulator device according to claim 1, wherein the telescopic mechanical arm comprises a fixed part and a telescopic part, the lower end of the lower support tube is connected with the top of the fixed part, one end of the telescopic part is movably arranged in the fixed part, and the other end of the telescopic part is connected with the clamping device.
7. The large-scale workpiece manipulator device according to claim 6, wherein the telescopic device comprises a telescopic cylinder, the telescopic cylinder is arranged in the fixed part, one end of the telescopic cylinder is provided with a telescopic piston rod, and the telescopic piston rod is connected with the telescopic part.
8. The large-sized workpiece manipulator device according to claim 6, wherein the clamping device comprises a first clamping arc plate, a second clamping arc plate and a clamping cylinder, one end of the first clamping arc plate is fixedly connected with one end of the telescopic portion, one end of the second clamping arc plate is rotatably connected with one end of the first clamping arc plate, and the clamping cylinder is arranged on the side of the second clamping arc plate and drives the other end of the second clamping arc plate to move towards the side far away from or close to the first clamping arc plate.
9. The large workpiece manipulator device according to claim 8, wherein one end of the first clamping arc plate fixedly connected with the telescopic part is rotatably connected with one end of the second clamping arc plate through a rotating shaft, the side surface of the second clamping arc plate is provided with an ear plate, the clamping cylinder is provided with a clamping piston rod, and one end of the clamping piston rod is connected with the ear plate.
10. The large-sized workpiece manipulator device according to claim 9, wherein reinforcing plates are arranged on the outer sides of the first clamping arc-shaped plate and the second clamping arc-shaped plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011375944.9A CN112643649A (en) | 2020-11-30 | 2020-11-30 | Large-scale workpiece manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011375944.9A CN112643649A (en) | 2020-11-30 | 2020-11-30 | Large-scale workpiece manipulator device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112643649A true CN112643649A (en) | 2021-04-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011375944.9A Pending CN112643649A (en) | 2020-11-30 | 2020-11-30 | Large-scale workpiece manipulator device |
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| Country | Link |
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| CN (1) | CN112643649A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116985082A (en) * | 2023-09-25 | 2023-11-03 | 新乐电器(江苏)有限公司 | Barrel overturning device for manufacturing washing machine |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2645788A1 (en) * | 1989-04-13 | 1990-10-19 | Sit Innovations Tech | TELEMANIPULATION MACHINE PROVIDED TO BE SUSPENDED FROM A LIFTING UNIT |
| CN107143294A (en) * | 2017-06-08 | 2017-09-08 | 浙江中锐重工科技股份有限公司 | Drill rod loading and unloading arm for pumping reverse circulation drilling machine |
| CN206544180U (en) * | 2017-03-11 | 2017-10-10 | 兰州交通大学 | The double guide hydraulic gearing hands of automatic lifting |
| CN107414804A (en) * | 2017-09-22 | 2017-12-01 | 中国东方电气集团有限公司 | A kind of manipulator with space all standing work capacity |
| CN210551202U (en) * | 2019-08-08 | 2020-05-19 | 深圳市威锋精密机械有限公司 | Practical vertical manipulator |
-
2020
- 2020-11-30 CN CN202011375944.9A patent/CN112643649A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2645788A1 (en) * | 1989-04-13 | 1990-10-19 | Sit Innovations Tech | TELEMANIPULATION MACHINE PROVIDED TO BE SUSPENDED FROM A LIFTING UNIT |
| CN206544180U (en) * | 2017-03-11 | 2017-10-10 | 兰州交通大学 | The double guide hydraulic gearing hands of automatic lifting |
| CN107143294A (en) * | 2017-06-08 | 2017-09-08 | 浙江中锐重工科技股份有限公司 | Drill rod loading and unloading arm for pumping reverse circulation drilling machine |
| CN107414804A (en) * | 2017-09-22 | 2017-12-01 | 中国东方电气集团有限公司 | A kind of manipulator with space all standing work capacity |
| CN210551202U (en) * | 2019-08-08 | 2020-05-19 | 深圳市威锋精密机械有限公司 | Practical vertical manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116985082A (en) * | 2023-09-25 | 2023-11-03 | 新乐电器(江苏)有限公司 | Barrel overturning device for manufacturing washing machine |
| CN116985082B (en) * | 2023-09-25 | 2023-12-12 | 新乐电器(江苏)有限公司 | Barrel overturning device for manufacturing washing machine |
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