CN114131641A - Movable pneumatic manipulator - Google Patents
Movable pneumatic manipulator Download PDFInfo
- Publication number
- CN114131641A CN114131641A CN202010912419.XA CN202010912419A CN114131641A CN 114131641 A CN114131641 A CN 114131641A CN 202010912419 A CN202010912419 A CN 202010912419A CN 114131641 A CN114131641 A CN 114131641A
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- CN
- China
- Prior art keywords
- cylinder
- gripper
- telescopic cylinder
- telescopic
- mechanical claw
- Prior art date
- Legal status (The legal status 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 status listed.)
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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
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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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
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a movable pneumatic manipulator which comprises a mechanical claw linkage part and a mechanical claw, wherein the mechanical claw linkage part is provided with a wheel bracket, a wheel, a bearing chassis, a rotating bearing, a cylinder fixing frame, a rotating cylinder, a telescopic cylinder, a supporting frame, a limit switch, a mechanical claw fixing frame and a telescopic arm; the mechanical claw is provided with a telescopic cylinder, a piston, a power shaft, a mechanical claw movable arm connecting shaft, an elastic gasket, a clamping jaw and a mechanical claw movable arm. The PLC controller is utilized to write programs to control different cylinders, corresponding actions are carried out to take and place objects, the using effect is obvious, and the PLC controller has good market application prospect.
Description
Technical Field
The invention relates to the technical field of pneumatic manipulators, in particular to a movable pneumatic manipulator.
Background
In general, when the number of articles to be carried is small, a small amount of manpower can meet the demand, but when the number of articles to be carried is large, the small amount of manpower cannot meet the demand, and the working efficiency is low, at the moment, more manpower needs to be input, and part of cost is increased invisibly. Moreover, when the working environment is severe and the environment has great harm to the health of human body, the human life health is not friendly if human labor is used again. Therefore, enterprises pay great attention to the use of the manipulator, and the manipulator is developed in various fields, such as a carrying manipulator, a dividing manipulator and the like. The use of the manipulators saves the cost for enterprises, improves the working efficiency, and indirectly protects the health of people in certain severe environments.
At present, the manipulator is applied to various occasions, such as laboratories of colleges and universities, manufacturing industry and the like, and more or less progress is made, but when different things are grabbed, if the firm grabbing can not be guaranteed, the working efficiency can be seriously influenced, and if the manipulator is inconvenient to move, certain influence can be generated on the precision of grabbing articles.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a movable pneumatic manipulator.
The technical scheme of the invention is as follows:
the utility model provides a movable pneumatic manipulator, includes gripper linkage part and arranges the gripper on the linkage part in, its characterized in that, gripper linkage part is provided with wheel stand, wheel, bears chassis, rolling bearing, cylinder mount, revolving cylinder, telescopic cylinder, support frame, limit switch, gripper mount, flexible arm, wheel stand links to each other with rolling bearing, wheel, bearing chassis respectively, the cylinder mount links to each other with revolving cylinder, telescopic cylinder, support frame respectively, limit switch links to each other with telescopic cylinder, the gripper mount links to each other with flexible arm, gripper respectively. The gripper is provided with telescopic cylinder, piston, power shaft, gripper digging arm connecting axle, elastic gasket, clamping jaw, gripper digging arm on, telescopic cylinder links to each other with piston, gripper mount, gripper digging arm connecting axle, power shaft respectively, the piston links to each other with the power shaft, the gripper digging arm links to each other with gripper digging arm connecting axle, clamping jaw respectively, the clamping jaw links to each other with elastic gasket.
According to the invention, preferably, the mechanical claw linkage part is provided with three wheel brackets, three wheels and three rotating bearings, and the wheels and the rotating bearings are all arranged on the wheel brackets which are uniformly arranged below the bearing chassis.
According to the present invention, it is preferable that the rotary cylinder is of a type of 180 degree rotary cylinder.
According to the present invention, preferably, the cylinder fixing frame is fixed on the rotary cylinder and connected with the telescopic cylinder, and a joint of the cylinder fixing frame and the telescopic cylinder is reinforced by the supporting frame.
According to the invention, the claw part of the mechanical claw is preferably designed to be additionally provided with a certain elastic gasket, so that the mechanical claw can be conveniently and firmly grabbed without being damaged after grabbing objects.
According to the invention, preferably, the limit switch is arranged on the telescopic cylinder, and the used type is a direct-acting travel switch, so that the limit switch has certain sensitivity and certain impact resistance, a manipulator system can not damage devices when being rapidly executed, and the safe and effective operation of the whole system is ensured.
The invention has the beneficial effects that:
1. the air is used as energy to drive and execute actions such as rotation and the like, and a motor is not used for executing the actions, so that the cost and the execution difficulty are reduced to a great extent.
2. The invention is characterized in that the bottom of the manipulator is provided with wheels and a rotating bearing, so that the manipulator is more convenient to move and adjust the position.
Drawings
FIG. 1 is a schematic view of a movable pneumatic robot according to the present invention;
FIG. 2 is a schematic view of a moveable pneumatic robot gripper according to the present invention;
FIG. 3 is a schematic diagram of a linkage assembly of a moveable pneumatic robot gripper of the present invention;
wherein: 1 is a telescopic cylinder I; 2, a limit switch I; a telescopic cylinder II is adopted as the 3; 4 is a cylinder fixing frame; 5 is a supporting frame; 6 is a telescopic arm; a limit switch II is arranged at 7; 8 is a mechanical claw fixing frame; 9 is a bearing chassis; 10 is a wheel; 11 is a rotating bearing; 12 is a wheel bracket; 13 is a rotary cylinder; 14 is a telescopic cylinder (c); 15 is a piston; 16 is a power shaft; 17 is a mechanical claw movable arm connecting shaft; 18 is an elastic gasket; 19 is a mechanical claw movable arm; and 20 is a clamping jaw.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, but is not limited thereto.
Example 1:
as shown in fig. 1, a movable pneumatic manipulator comprises a mechanical claw linkage component and a mechanical claw arranged on the linkage component, wherein the mechanical claw linkage component is provided with a wheel bracket 12, wheels 10, a bearing chassis 9, a rotating bearing 11, a rotating cylinder 13, a fixed frame 4, a telescopic cylinder 1, a support frame 5, a limit switch 2, a telescopic arm 6, a telescopic cylinder 3, a limit switch 7 and a mechanical claw fixed frame 8, wherein the wheel bracket 12 is respectively connected with the wheels 10, the rotating bearing 11 and the bearing chassis 9, the bearing chassis 9 is connected with the rotating cylinder 13, the rotating cylinder 13 is connected with the cylinder fixed frame 4, the cylinder fixed frame 4 is respectively connected with the telescopic cylinder 1 and the support frame 5, the telescopic cylinder 1 is respectively connected with the telescopic arm 6 and the limit switch 2, the telescopic arm 6 is connected with the telescopic cylinder 3, the telescopic cylinder II 3 is respectively connected with a limit switch II 7 and a mechanical claw fixing frame 8, and the mechanical claw fixing frame 8 is connected with a mechanical claw. The gripper is provided with a telescopic cylinder (14), a piston (15), a power shaft (16), a gripper movable arm connecting shaft (17), a gripper movable arm (19), a clamping jaw (20) and an elastic gasket (18), wherein the telescopic cylinder (14) is respectively connected with the piston (15) and the power shaft (16), the power shaft (16) is respectively connected with the gripper movable arm connecting shaft (17) and the gripper movable arm (19), the gripper movable arm connecting shaft (17) is connected with the clamping jaw (20), and the clamping jaw (20) is connected with the elastic gasket (18).
The limit switch is a direct-acting travel switch, the rotary cylinder 13 is a 180-degree rotary cylinder, the rotary bearing 11 can move in 360-degree directions, and the manipulator can move in a certain direction only by applying a force to the manipulator in the certain direction.
Example 2:
as shown in fig. 1, a movable pneumatic robot is used in the following steps,
(1) a movable pneumatic manipulator is controlled by PLC programming, air inlet and air outlet are controlled by a two-position three-way electromagnetic valve, and air pressure of each execution cylinder is controlled by a corresponding pressure regulating valve.
(2) Because the bottom of the mechanical claw linkage part is provided with the wheels, the mechanical arm can be pushed to any proper position and then fixed.
(3) When the mechanical gripper starts to work, the rotary cylinder 13 acts to rotate to a designated position, the rotary cylinder stops, the telescopic cylinder 1 acts to extend to a certain position, then the telescopic cylinder 2 acts to stop, the telescopic cylinder 1 acts to contract to the telescopic cylinder 14 to start air intake when the mechanical gripper descends to the certain position, the clamping jaw 20 is opened to grab an article and grab the article, then the telescopic cylinder 3 acts to ascend until the mechanical gripper fixing frame 8 touches the limit switch 7 and stops, then the telescopic cylinder 1 acts to contract to the telescopic cylinder 3 to touch the limit switch 2 and stops, then the rotary cylinder 13 acts to rotate back to the starting point and stops, then the telescopic cylinder 3 acts to start descending and descends to the certain position, and the telescopic cylinder 14 acts to open the clamping jaw 20 to put the article.
(4) The presence or absence of the operation of the telescopic cylinder (1) in the step (3) can be set in a PLC program according to the distance from the actual position.
Claims (5)
1. The utility model provides a movable pneumatic manipulator, includes gripper linkage part and arranges the gripper on the linkage part in, its characterized in that, gripper linkage part is provided with wheel carrier, wheel, bears chassis, rolling bearing, cylinder mount, revolving cylinder, telescopic cylinder, support frame, limit switch, gripper mount, flexible arm, wheel carrier rolling bearing, wheel respectively, bears the chassis and link to each other, the cylinder mount is connected with revolving cylinder, telescopic cylinder, support frame respectively, limit switch links to each other with telescopic cylinder, the gripper mount links to each other with flexible arm, gripper respectively.
2. The movable pneumatic manipulator according to claim 1, wherein the gripper linkage unit includes three wheel holders, three wheels, and three rolling bearings, and the wheels and the rolling bearings are mounted on the wheel holders, and the wheel holders are uniformly mounted under the carrying chassis.
3. The movable pneumatic robot as claimed in claim 1, wherein the cylinder holder is fixed to the rotary cylinder and coupled to the telescopic cylinder, and a junction of the cylinder holder and the telescopic cylinder is reinforced by a support bracket.
4. The movable pneumatic manipulator as claimed in claim 1, wherein the limit switch is mounted on a telescopic cylinder, and the limit switch is a direct-acting type travel switch, which has a certain sensitivity and a certain impact resistance, so that the manipulator system can be rapidly performed without damaging devices, and the whole system can be safely and effectively operated.
5. The movable pneumatic robot of claim 1, wherein the gripper fixing frame is connected to a telescopic arm, and the telescopic arm is connected to a telescopic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010912419.XA CN114131641A (en) | 2020-09-03 | 2020-09-03 | Movable pneumatic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010912419.XA CN114131641A (en) | 2020-09-03 | 2020-09-03 | Movable pneumatic manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114131641A true CN114131641A (en) | 2022-03-04 |
Family
ID=80438056
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010912419.XA Pending CN114131641A (en) | 2020-09-03 | 2020-09-03 | Movable pneumatic manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114131641A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005051812A1 (en) * | 2003-10-28 | 2005-06-09 | Aew Delford Systems | Improved pick and place gripper |
| CN201329582Y (en) * | 2008-07-17 | 2009-10-21 | 浙江天煌科技实业有限公司 | Manipulator with four degrees of freedom |
| EP2756937A2 (en) * | 2013-01-22 | 2014-07-23 | Kabushiki Kaisha Yaskawa Denki | Robot hand and robot |
| WO2017073090A1 (en) * | 2015-10-27 | 2017-05-04 | 三菱電機株式会社 | Mirror-exchanging device for segmented mirror telescope and mirror-exchanging method therefor |
| CN106826865A (en) * | 2017-03-29 | 2017-06-13 | 上海海事大学 | Bathtub cleaning robot |
| CN107042021A (en) * | 2017-02-20 | 2017-08-15 | 天津工业大学 | A kind of flying disc automatic launcher |
| CN206677964U (en) * | 2017-03-31 | 2017-11-28 | 大连大学 | A kind of full Pneumatic multi-station manipulator |
| CN109807876A (en) * | 2017-11-20 | 2019-05-28 | 西安知点信息科技有限公司 | A kind of transportation manipulator |
| CN209157829U (en) * | 2018-12-10 | 2019-07-26 | 陕西久捷机器人有限公司 | A kind of roll-over table applied in dual-arm robot transfer matic |
-
2020
- 2020-09-03 CN CN202010912419.XA patent/CN114131641A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2005051812A1 (en) * | 2003-10-28 | 2005-06-09 | Aew Delford Systems | Improved pick and place gripper |
| CN201329582Y (en) * | 2008-07-17 | 2009-10-21 | 浙江天煌科技实业有限公司 | Manipulator with four degrees of freedom |
| EP2756937A2 (en) * | 2013-01-22 | 2014-07-23 | Kabushiki Kaisha Yaskawa Denki | Robot hand and robot |
| WO2017073090A1 (en) * | 2015-10-27 | 2017-05-04 | 三菱電機株式会社 | Mirror-exchanging device for segmented mirror telescope and mirror-exchanging method therefor |
| CN107042021A (en) * | 2017-02-20 | 2017-08-15 | 天津工业大学 | A kind of flying disc automatic launcher |
| CN106826865A (en) * | 2017-03-29 | 2017-06-13 | 上海海事大学 | Bathtub cleaning robot |
| CN206677964U (en) * | 2017-03-31 | 2017-11-28 | 大连大学 | A kind of full Pneumatic multi-station manipulator |
| CN109807876A (en) * | 2017-11-20 | 2019-05-28 | 西安知点信息科技有限公司 | A kind of transportation manipulator |
| CN209157829U (en) * | 2018-12-10 | 2019-07-26 | 陕西久捷机器人有限公司 | A kind of roll-over table applied in dual-arm robot transfer matic |
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Application publication date: 20220304 |