CN116652919A - Spherical coordinate hydraulic manipulator for conveying steel pipes - Google Patents
Spherical coordinate hydraulic manipulator for conveying steel pipes Download PDFInfo
- Publication number
- CN116652919A CN116652919A CN202310854220.XA CN202310854220A CN116652919A CN 116652919 A CN116652919 A CN 116652919A CN 202310854220 A CN202310854220 A CN 202310854220A CN 116652919 A CN116652919 A CN 116652919A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- hydraulic
- seat
- pneumatic cylinder
- steel pipes
- 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.)
- Pending
Links
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 22
- 239000010959 steel Substances 0.000 title claims abstract description 22
- 229910052751 metal Inorganic materials 0.000 claims description 13
- 239000002184 metal Substances 0.000 claims description 13
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 9
- 230000033001 locomotion Effects 0.000 abstract description 7
- 238000005253 cladding Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910001018 Cast iron Inorganic materials 0.000 description 1
- 229910001208 Crucible steel Inorganic materials 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a spherical coordinate hydraulic manipulator for conveying steel pipes, and relates to the field of industrial robots. This a spherical coordinates hydraulic manipulator for transporting steel pipe, including workstation and swivel mount, the top of swivel mount is provided with the support arm, and rotatory pneumatic cylinder is installed to the front end of support arm, and flexible pneumatic cylinder is installed to the output of rotatory pneumatic cylinder, and manipulator main part is installed to the output of flexible pneumatic cylinder. This a spherical coordinates hydraulic manipulator for transporting steel pipe, driving motor drive swivel mount horizontal rotation, the hydraulic arm carries out every single move angle adjustment, and 180 degrees positive and negative rotations on the vertical plane are realized to rotatory pneumatic cylinder, and flexible pneumatic cylinder drives the manipulator main part and carries out back and forth movement, realizes the manipulator main part multi-angle, and multi freedom ground is accurate to be removed, and whole manipulator main part adopts outer clamp formula double-fulcrum gyration type finger cladding centre gripping principle simultaneously, is suitable for the clamp of different forms work piece and gets, and can avoid the damage to the product.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a spherical coordinate hydraulic manipulator for conveying steel pipes.
Background
The manipulator is used as an automatic control device for grabbing and moving workpieces, and in recent years, with the development of science and technology and the popularization of internet technology, the manipulator is further developed mechanically, and can be programmed to achieve the purpose of completing carrying work in different environments, and has multiple degrees of freedom and the capability of completing various expected work tasks; the machine tool can replace human beings to a great extent, dangerous work can be carried out at places such as high temperature, strong corrosion or high pressure, the safety and the reliability of the work are guaranteed, and the machine tool is more and more widely used, especially in automatic CNC machine tools and complex machine tools for assembly and workpiece loading and unloading.
However, the current industrial manipulators still have a plurality of problems:
(1) the adaptability of the irregular body is poor, and the product inclusion in conventional production is poor, mainly because the structural design of the manipulator part is unreasonable, and the irregular body is difficult to adapt;
(2) the positioning accuracy is low, the real-time assembly stability is poor, and the main reason is that the waist seat has unreasonable structural design, insufficient strength and rigidity and unreasonable transmission mechanism design;
(3) the maintenance replacement difficulty is high, the faults are many, the maintenance is difficult, the working efficiency is reduced, and the main reason is that the design of the manipulator is too complex, and the faults are difficult to accurately locate. The mechanical arm mechanism is unreasonable and is easy to generate faults;
(4) the degree of freedom is low, the clamping range and the flexibility are small, and the main reason is that the existing manipulator mostly adopts a rectangular coordinate system;
(5) the structure is larger, the operation is heavier, and the space required by installation is large;
(6) the design and manufacturing are expensive and are not easy to operate and maintain;
to solve the above problems, a spherical hydraulic manipulator for transporting steel pipes is provided.
Disclosure of Invention
Aiming at the defects of the prior art, the invention discloses a spherical coordinate hydraulic manipulator for conveying steel pipes, which is used for solving the problems in the prior art.
In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides a spherical coordinates hydraulic manipulator for transporting steel pipe, includes the operation panel and installs the swivel mount at the operation panel top, the top of swivel mount is provided with vertical pivoted support arm, rotatory pneumatic cylinder is installed to the front end of support arm, flexible pneumatic cylinder is installed to the output of rotatory pneumatic cylinder, manipulator main part is installed to the output of flexible pneumatic cylinder.
Preferably, a driving motor is installed at the top of the workbench, and the driving motor is used for driving the rotary support to rotate.
Preferably, the output end of the driving motor is provided with a high-speed gear, the bottom of the rotary support is provided with a low-speed gear, and the high-speed gear is meshed with the low-speed gear.
Preferably, the high-speed gear and the low-speed gear are both arranged in the workbench, a connecting rotating shaft is fixedly connected between the low-speed gear and the rotating support, a waist seat is fixedly arranged at the top of the workbench, and the connecting rotating shaft is rotationally connected in the waist seat.
Preferably, the top of the waist seat is movably hinged with a hydraulic arm, the middle part of the supporting arm is movably hinged with the rotary support, and the tail end of the supporting arm is movably hinged with the hydraulic arm.
Preferably, the rotary hydraulic cylinder comprises a cylinder body, a hydraulic cylinder tail flange is fixedly arranged between the tail end of the cylinder body and the front end of the supporting arm, a left oil inlet and a right oil inlet are respectively formed in two sides of the interior of the cylinder body, a rotary shaft is arranged in the interior of the cylinder body, a stator is fixedly arranged on the inner wall of the cylinder body, a rotor is arranged on the outer surface of the rotary shaft, and the telescopic hydraulic cylinder is fixedly arranged at the end part of the rotary shaft.
Preferably, the output end of the telescopic hydraulic cylinder is provided with a rotating seat, and the manipulator main body is fixedly arranged at the top of the rotating seat.
Preferably, the manipulator main part is including fixing the metal seat at the roating seat top, the terminal fixed mounting of metal seat has the centre gripping pneumatic cylinder, the equal swing joint in front end both sides of metal seat has the centre gripping pincers, the terminal swing joint of centre gripping pincers has the connecting strip, the inside sliding connection of metal seat has the sliding seat, the output and the sliding seat fixed connection of centre gripping pneumatic cylinder, the connecting strip swing joint is in the side of sliding seat.
The invention discloses a spherical coordinate hydraulic manipulator for conveying steel pipes, which has the following beneficial effects:
1. this a spherical coordinates hydraulic manipulator for transporting steel pipe, driving motor drives the rotation support and rotates on the workstation level, the hydraulic arm makes the support arm carry out every single move angle adjustment at the top of rotation support, 180 degrees positive and negative rotations on the vertical plane are realized to the rotary hydraulic cylinder, flexible pneumatic cylinder drives the manipulator main part and carries out back-and-forth movement, thereby realize manipulator main part multi-angle, the accurate removal in multi freedom, power drive arrangement adopts independent pneumatic cylinder drive knuckle, utilize the accurate control of pneumatic cylinder can realize the real-time control of knuckle state, can accomplish the real-time assembly of product under the high accuracy, the complex environment.
2. This a spherical coordinates hydraulic manipulator for transporting steel pipe, through starting the centre gripping pneumatic cylinder, make its output shaft stretch out, thereby drive the outside removal of sliding seat, two sets of connecting strips drive the terminal outside upset of centre gripping pincers this moment, the centre gripping to the work piece is accomplished to the front end of centre gripping pincers this moment, then remove the work piece to the assigned position again, the output shaft shrink of centre gripping pneumatic cylinder, the centre gripping pincers loosen the centre gripping to the work piece this moment, whole manipulator main part adopts outer double-fulcrum rotary finger cladding centre gripping principle of clamp type double-fulcrum rotary type, be suitable for the clamp of different forms work piece and get, and can avoid the damage to the product, the environmental suitability is strong, the commonality, the flexibility is good, it is convenient to press from both sides and get, improve work efficiency.
3. The spherical coordinate hydraulic manipulator for conveying the steel pipes is integrally of modularized design, is convenient to maintain and replace, and is flexible and specialized and suitable for the current lean production requirements.
Drawings
FIG. 1 is a schematic view of the overall outer surface structure of the present invention;
FIG. 2 is a schematic diagram of the overall side structure of the present invention;
FIG. 3 is a schematic view of the outer surface structure of a rotary support according to the present invention;
FIG. 4 is a schematic view of the outer surface structure of the rotary hydraulic cylinder according to the present invention;
FIG. 5 is a schematic view of the outer surface structure of the telescopic hydraulic cylinder according to the present invention;
FIG. 6 is a schematic view of the outer surface structure of the manipulator body according to the present invention;
FIG. 7 is a cross-sectional view of the internal structure of the rotary hydraulic cylinder of the present invention;
fig. 8 is a plan view showing the interior of the rotary hydraulic cylinder according to the present invention horizontally.
In the figure: 1. a work table; 2. a driving motor; 3. a rotary support; 4. a support arm; 5. a hydraulic arm; 6. a rotary hydraulic cylinder; 61. a cylinder; 62. a left oil inlet; 63. a right oil inlet; 64. a rotating shaft; 65. a stator; 66. a moving plate; 7. a telescopic hydraulic cylinder; 8. a robot body; 81. clamping a hydraulic cylinder; 82. a sliding seat; 83. a metal seat; 84. clamping pliers; 85. a connecting strip; 9. a waist seat; 10. the connecting rotating shaft; 11. a low-speed gear; 12. a high-speed gear; 13. a rotating seat; 14. and a flange at the tail of the hydraulic cylinder.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-8, a spherical coordinate hydraulic manipulator for conveying steel pipes in this embodiment includes a workbench 1 and a rotary support 3 mounted on the top of the workbench 1, a vertically rotating support arm 4 is disposed on the top of the rotary support 3, a rotary hydraulic cylinder 6 is mounted at the front end of the support arm 4, a telescopic hydraulic cylinder 7 is mounted at the output end of the rotary hydraulic cylinder 6, and a manipulator main body 8 is mounted at the output end of the telescopic hydraulic cylinder 7.
A driving motor 2 is installed at the top of the workbench 1, and the driving motor 2 is used for driving the rotary support 3 to rotate.
The output end of the driving motor 2 is provided with a high-speed gear 12, the bottom of the rotary support 3 is provided with a low-speed gear 11, and the high-speed gear 12 is meshed with the low-speed gear 11.
The high-speed gear 12 and the low-speed gear 11 are both arranged in the workbench 1, a connecting rotating shaft 10 is fixedly connected between the low-speed gear 11 and the rotary support 3, a waist seat 9 is fixedly arranged at the top of the workbench 1, and the connecting rotating shaft 10 is rotatably connected in the waist seat 9.
The top of the waist seat 9 is movably hinged with a hydraulic arm 5, the middle part of the supporting arm 4 is movably hinged with the rotary support 3, and the tail end of the supporting arm 4 is movably hinged with the hydraulic arm 5.
The rotary hydraulic cylinder 6 comprises a cylinder body 61, a hydraulic cylinder tail flange 14 is fixedly arranged between the tail end of the cylinder body 61 and the front end of the supporting arm 4, a left oil inlet 62 and a right oil inlet 63 are respectively formed in two sides of the interior of the cylinder body 61, a rotary shaft 64 is arranged in the interior of the cylinder body 61, a stator 65 is fixedly arranged on the inner wall of the cylinder body 61, a moving plate 66 is arranged on the outer surface of the rotary shaft 64, a telescopic hydraulic cylinder 7 is fixedly arranged at the end part of the rotary shaft 64, the rotary hydraulic cylinder 6 is essentially a rotary cylinder which is a single-vane rotary cylinder, two completely mutually isolated parts are formed after oil cavities are separated by the moving plate 66 and a sealing ring on the inner wall of the cylinder body 61, the moving plate 66 rotates in the anticlockwise direction when pressure oil is discharged from the left oil inlet 62, the moving plate 66 rotates in the clockwise direction when the pressure oil is discharged from the right oil inlet 63, and the rotary shaft 64 can rotate in two directions, and the rotating angle is within 180 degrees.
The rotary seat 13 is installed to the output of flexible pneumatic cylinder 7, and manipulator main part 8 fixed mounting is at the top of rotary seat 13.
The manipulator main body 8 includes the metal seat 83 of fixing at roating seat 13 top, and the terminal fixed mounting of metal seat 83 has centre gripping pneumatic cylinder 81, and the front end both sides of metal seat 83 all activity articulates there is centre gripping pincers 84, and the terminal activity of centre gripping pincers 84 articulates there is connecting strip 85, and the inside sliding connection of metal seat 83 has sliding seat 82, and the output and the sliding seat 82 fixed connection of centre gripping pneumatic cylinder 81, connecting strip 85 activity articulates the side at sliding seat 82.
Working principle: the waist seat 9 of the spherical coordinate hydraulic manipulator controls the phi angle in 4 degrees of freedom of the manipulator. The rotary support 3 is used as the first joint of the manipulator and is arranged on the waist seat 9, and is used for bearing all the weight of the robot, and when the waist seat 9 structure of the manipulator is designed, the following design criteria are to be noted:
(1) In order to ensure that the manipulator has a sufficient stability during operation, the lumbar support 9 needs to have a sufficient mounting base surface to prevent errors due to the reference surface being too small.
(2) The waist seat 9 needs to bear the whole weight and load of the whole hydraulic manipulator at the same time, and in order to ensure the reliability and bearing capacity requirement of the global coordinate hydraulic manipulator in normal operation, the connection between the rotary support 3 and the waist 9 of the hydraulic manipulator must have enough movement strength and rigidity connection so as to ensure the reliability of the hydraulic manipulator in normal operation.
(3) The waist seat 9 joint is used as the first mechanical rotary transmission joint of the whole transmission manipulator, has a vital technical guarantee guaranteeing function for the control of the rotary tail end of the whole manipulator, the mechanical transmission chain and the transmission precision supported by the manipulator clamp of the manipulator, and therefore, special attention must be paid to the matching of the relative precision and tolerance value of the connection position between the rotary shaft and the mechanical transmission chain and the precise guarantee of the transmission rigidity when the waist seat 9 is selected.
(4) The corresponding driving mechanism for the rotary motion of the waist needs to ensure the rotation precision, the position and the speed need to be controlled by corresponding controllers, and the feedback control is performed by combining a position sensor.
(5) The waist line should be in order to be convenient for assembly, regulation, in the connection joint of waist and robot arm, need a stable reliable enough automation location datum plane, rely on this datum plane and guarantee relative position and precision between each joint accurately, need be equipped with one on the car and adjust the clearance of transmission between transmission waist and the bearing, adopt corresponding mechanical design method to handle properly.
(6) In order to effectively reduce the motion inertia of the acceleration steering manipulator in the acceleration steering process, reduce the errors in the acceleration and steering processes and improve the operation and control precision of the acceleration steering manipulator, the acceleration steering manipulator is generally manufactured by adopting an aluminum alloy material for the acceleration steering movement part, and the non-acceleration steering movement part is manufactured by adopting cast iron or cast steel and other materials with lower technological requirements.
When the device is used, the driving motor 2 is started, so that the driving motor 2 drives the high-speed gear 12 to rotate, the high-speed gear 12 is meshed with the low-speed gear 11, the connecting rotating shaft 10 is driven to rotate, the rotating support 3 horizontally rotates on the operating platform 1, and meanwhile, the hydraulic arm 5 is started to stretch and retract, so that the supporting arm 4 can adjust the pitching angle at the top of the rotating support 3;
secondly, in the using process of the device, the rotary hydraulic cylinder 6 is controlled to start, the sealing rings on the inner walls of the moving plate 66 and the cylinder body 61 separate oil cavities to form two parts which are completely isolated from each other, when pressure oil is discharged from the left oil inlet 62, the moving plate 66 rotates in the anticlockwise direction, when the pressure oil is discharged from the right oil inlet 63, the moving plate 66 rotates in the clockwise direction, so that the rotary shaft 64 can rotate in two directions, the rotation angle is within 180 degrees, and meanwhile, the telescopic hydraulic cylinder 7 is started to drive the manipulator main body 8 to move forwards and backwards, and finally, the manipulator main body 8 moves to the workpiece position;
the main parameters of the hydraulic system are pressure and flow, which are the main design basis of the hydraulic system, the pressure depends on the external load, and the flow depends on the setting of the speed and the structural dimensions of the hydraulic actuator.
In this hydraulic manipulator, it is known that the load pressure of the rotary cylinder and the double-acting direct-acting hydraulic cylinder controlling the boom elevation angle phi is 5MPa, and the load pressure of the double-acting direct-acting hydraulic cylinder controlling the boom X expansion/contraction amount is 2MPa, and since the hydraulic system is operated sequentially, the maximum output pressure of the hydraulic pump is 5MPa or more.
Then, the clamping hydraulic cylinder 81 is started to enable the output shaft of the clamping hydraulic cylinder to extend, so that the sliding seat 82 is driven to move outwards, at the moment, the two groups of connecting strips 85 drive the tail ends of the clamping pliers 84 to turn outwards, at the moment, the front ends of the clamping pliers 84 finish clamping a workpiece, then the workpiece is moved to a designated position, the output shaft of the clamping hydraulic cylinder 81 is contracted, and at the moment, the clamping pliers 84 loosen clamping the workpiece.
The invention designs a spherical coordinate form for clamping and placing the bar stock in an industrial place in a point-to-point manner, meets the design technical performance principle and reliability principle, reduces the manufacturing cost, reduces the size and weight, reduces the consumption and environmental pollution, increases the working range, reduces the required space, reduces the power and improves the working efficiency.
The power driving device drives the knuckle by adopting an independent hydraulic cylinder, and real-time control of the knuckle state can be realized by utilizing the accurate control of the hydraulic cylinder, so that real-time assembly of products in a high-precision and complex environment can be completed.
The manipulator main body 8 adopts an outer clamping type double-pivot rotary finger cladding clamping principle, is applicable to clamping of workpieces in different forms, can avoid damage to products, and is strong in environment adaptability, good in universality and flexibility, convenient to clamp and improve working efficiency.
The whole mechanical device adopts a modularized design, is convenient for maintenance and replacement, and is flexible and specialized and suitable for the current lean production requirement.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides a spherical coordinates hydraulic manipulator for transporting steel pipe, includes workstation (1) and installs at swivel mount (3) at workstation (1) top, its characterized in that:
the top of swivel support (3) is provided with vertical pivoted support arm (4), rotatory pneumatic cylinder (6) are installed to the front end of support arm (4), flexible pneumatic cylinder (7) are installed to the output of rotatory pneumatic cylinder (6), manipulator main part (8) are installed to the output of flexible pneumatic cylinder (7).
2. A spherical coordinates hydraulic manipulator for transporting steel pipes as claimed in claim 1, wherein: the top of the workbench (1) is provided with a driving motor (2), and the driving motor (2) is used for driving the rotary support (3) to rotate.
3. A spherical coordinates hydraulic manipulator for transporting steel pipes according to claim 2, characterized in that: the output end of the driving motor (2) is provided with a high-speed gear (12), the bottom of the rotary support (3) is provided with a low-speed gear (11), and the high-speed gear (12) is meshed with the low-speed gear (11).
4. A spherical coordinates hydraulic manipulator for transporting steel pipes according to claim 3, characterized in that: the high-speed gear (12) and the low-speed gear (11) are both arranged in the workbench (1), a connecting rotating shaft (10) is fixedly connected between the low-speed gear (11) and the rotating support (3), a waist seat (9) is fixedly arranged at the top of the workbench (1), and the connecting rotating shaft (10) is rotationally connected in the waist seat (9).
5. A spherical coordinates hydraulic manipulator for transporting steel pipes as set forth in claim 4, wherein: the top of the waist seat (9) is movably hinged with a hydraulic arm (5), the middle of the supporting arm (4) is movably hinged with the rotary support (3), and the tail end of the supporting arm (4) is movably hinged with the hydraulic arm (5).
6. A spherical coordinates hydraulic manipulator for transporting steel pipes as set forth in claim 5, wherein: the rotary hydraulic cylinder (6) comprises a cylinder body (61), a hydraulic cylinder tail flange (14) is fixedly installed between the tail end of the cylinder body (61) and the front end of the supporting arm (4), a left oil inlet (62) and a right oil inlet (63) are respectively formed in two sides of the interior of the cylinder body (61), a rotary shaft (64) is installed in the interior of the cylinder body (61), a stator (65) is fixedly installed on the inner wall of the cylinder body (61), a rotor (66) is installed on the outer surface of the rotary shaft (64), and the telescopic hydraulic cylinder (7) is fixedly installed at the end of the rotary shaft (64).
7. A spherical coordinates hydraulic manipulator for transporting steel pipes as set forth in claim 6, wherein: the output end of the telescopic hydraulic cylinder (7) is provided with a rotating seat (13), and the manipulator main body (8) is fixedly arranged at the top of the rotating seat (13).
8. A spherical coordinates hydraulic manipulator for transporting steel pipes as set forth in claim 7, wherein: the manipulator main part (8) is including fixing metal seat (83) at roating seat (13) top, the terminal fixed mounting of metal seat (83) has centre gripping pneumatic cylinder (81), the equal swing joint in front end both sides of metal seat (83) has centre gripping pincers (84), the terminal swing joint of centre gripping pincers (84) has connecting strip (85), the inside sliding connection of metal seat (83) has sliding seat (82), the output and the sliding seat (82) fixed connection of centre gripping pneumatic cylinder (81), connecting strip (85) swing joint are in the side of sliding seat (82).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310854220.XA CN116652919A (en) | 2023-07-13 | 2023-07-13 | Spherical coordinate hydraulic manipulator for conveying steel pipes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310854220.XA CN116652919A (en) | 2023-07-13 | 2023-07-13 | Spherical coordinate hydraulic manipulator for conveying steel pipes |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116652919A true CN116652919A (en) | 2023-08-29 |
Family
ID=87726370
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310854220.XA Pending CN116652919A (en) | 2023-07-13 | 2023-07-13 | Spherical coordinate hydraulic manipulator for conveying steel pipes |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116652919A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100103431A1 (en) * | 2007-03-05 | 2010-04-29 | Andreas Haralambos Demopoulos | Determining Positions |
| CN103753526A (en) * | 2013-12-30 | 2014-04-30 | 重庆交通大学 | Precise positionable and compensable heavy-load mechanical arm |
| CN109454636A (en) * | 2018-10-10 | 2019-03-12 | 重庆交通大学 | Four-degree-of-freedom loading and unloading manipulator |
| CN112008745A (en) * | 2020-08-25 | 2020-12-01 | 宣化钢铁集团有限责任公司 | Full hydraulic positioning long nozzle manipulator |
| CN212947787U (en) * | 2020-06-05 | 2021-04-13 | 泵工厂(苏州)网络科技有限公司 | Sorting robot driving system |
-
2023
- 2023-07-13 CN CN202310854220.XA patent/CN116652919A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100103431A1 (en) * | 2007-03-05 | 2010-04-29 | Andreas Haralambos Demopoulos | Determining Positions |
| CN103753526A (en) * | 2013-12-30 | 2014-04-30 | 重庆交通大学 | Precise positionable and compensable heavy-load mechanical arm |
| CN109454636A (en) * | 2018-10-10 | 2019-03-12 | 重庆交通大学 | Four-degree-of-freedom loading and unloading manipulator |
| CN212947787U (en) * | 2020-06-05 | 2021-04-13 | 泵工厂(苏州)网络科技有限公司 | Sorting robot driving system |
| CN112008745A (en) * | 2020-08-25 | 2020-12-01 | 宣化钢铁集团有限责任公司 | Full hydraulic positioning long nozzle manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10722942B2 (en) | Multi-arm hanging rail type casting cleaning robot | |
| US8240971B2 (en) | Handling manipulator assembly | |
| CN108748086B (en) | Large-stroke hybrid processing robot device for complex curved surface | |
| CN110000760B (en) | Series-parallel movable self-balancing heavy-load casting robot | |
| WO2021135425A1 (en) | Multi-degree-of-freedom numerical control turntable | |
| CN112405519A (en) | Motion trajectory planning method for loading and unloading robot | |
| CN105881489A (en) | Multifunctional carrying device | |
| CN109822113B (en) | Six-axis feeding and discharging robot system and control method thereof | |
| JPS5950474B2 (en) | industrial robot | |
| CN111300386A (en) | Multifunctional industrial robot | |
| CN106272377A (en) | A kind of modularity circular cylindrical coordinate mechanical arm | |
| CN110722585A (en) | Multi-station robot clamping jaw | |
| CN113523785A (en) | Flexible automatic installation production line for steel wire thread insert | |
| CN215393675U (en) | Flexible automatic installation production line for steel wire thread insert | |
| CN201586973U (en) | Punch feeding and blanking robot | |
| CN116652919A (en) | Spherical coordinate hydraulic manipulator for conveying steel pipes | |
| CN111185914B (en) | Five-axis grinding robot | |
| CN112060126A (en) | Three-degree-of-freedom wrist joint robot | |
| CN217571532U (en) | Welding fixture with self-locking function and six degrees of freedom capable of being pneumatically adjusted | |
| CN214686573U (en) | 3T3R robot for cleaning and machining castings and casting machining system | |
| CN211615603U (en) | Multi-axis robot | |
| CN211332579U (en) | Grinding mechanism based on series-parallel connection | |
| CN112157647A (en) | Six-degree-of-freedom industrial robot | |
| CN203945364U (en) | Heavy duty transfer robot | |
| CN214686603U (en) | 1T5R robot for cleaning and machining castings and casting machining system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |