CN202155882U

CN202155882U - Carrying manipulator system

Info

Publication number: CN202155882U
Application number: CN2011202227878U
Authority: CN
Inventors: 张甜甜
Original assignee: Suzhou Institute of Trade and Commerce
Current assignee: Suzhou Institute of Trade and Commerce
Priority date: 2011-06-28
Filing date: 2011-06-28
Publication date: 2012-03-07
Anticipated expiration: 2021-06-28

Abstract

The utility model discloses a carrying manipulator system which comprises four air cylinders, namely a rotary air cylinder, a telescopic air cylinder, a lifting air cylinder and a clamping and discharging air cylinder which are connected in sequence, wherein the clamping and discharging air cylinder is provided with a paw; the four air cylinders are controlled by corresponding electromagnetic valves; the rotary air cylinder, the telescopic air cylinder and the clamping and discharging air cylinder are respectively controlled by three two-position five-way dual electromagnetic valves; and the lifting air cylinder is controlled by one two-position three-way single electromagnetic valve. Due to the structure of the carrying manipulator system, a manipulator owns the almost great movement redundancy of an operating space and an operating height, and synchronously has the functions of moving and operating, is superior to a conventional manipulator, and has wide application foreground in industries such as hazardous operation, manufacturing industry, service industry and the like.

Description

A kind of handling machinery hand system

Technical field

The utility model relates to mechanical field, concrete relates to a kind of handling machinery hand system.

Background technology

Manipulator is a kind of high-tech automated production equipment that grows up nearly decades.Manipulator is an important branch of robot.Its feature is to accomplish the job task of various expections through programming, on structure and performance, has people and machine advantage separately concurrently, has especially embodied people's intelligence and adaptability.The ability that fulfils assignment in the accuracy of manipulator operation and the various environment has vast potential for future development in each field of national economy.

Manipulator is a kind of ability automation positioning control and can regroups the multi-purpose machine of program with change that it has a plurality of frees degree, can be used to carry object and works in each varying environment to accomplish.

Programmable Logic Controller is that PLC develops on the development foundation of computer technology, the communication technology and relay control technology, has been widely used in the every field of Industry Control at present.It is core with the microprocessor, with written program carry out logic control, regularly, counting and arithmetical operation etc., and come control appliance or production process through the input and output of digital quantity and analog quantity.

Conveying robot is at dangerous operation, and industries such as manufacturing industry, service trade have broad application prospects.But because the existence of problems such as complex structure, close coupling, non-linear, non-integrality, make that all the research to conveying robot has suitable challenge.In recent years, the research of aspects such as the control strategy of conveying robot, motion planning is more and more received attention both domestic and external, and obtained some of great value achievements in research.China starts late in this respect, and research focuses mostly on aspect theoretical.Therefore, manufacturing and designing the conveying robot platform of a reality, all is very significant in the practice in theory still.

The utility model content

The purpose of the utility model is to provide a kind of handling machinery hand system.

In order to solve the problems of the technologies described above, realize above-mentioned purpose, the utility model has adopted following technical scheme:

A kind of handling machinery hand system; Comprise by the rotary cylinder, telescopic cylinder, the lift cylinder that link to each other successively and fold up these four cylinders of cylinder and form; Fold up cylinder and have paw; Said four cylinders are controlled by corresponding solenoid valve, said rotary cylinder, telescopic cylinder and fold up these four cylinders of cylinder respectively by the control of three two five-way dual-coil electromagnetic valves, and lift cylinder is by a two-bit triplet list solenoid control.

Preferably, said telescopic cylinder and lift cylinder are respectively by two solenoid control of twin coil.

Preferably, said handling machinery hand system carries out the control of electric circuit with PLC.

The utlity model has following advantage: the structure of the handling machinery hand system of the utility model makes manipulator have the motion redundancy of almost very big operating space and height; And have simultaneously and move and operating function; Make it be superior to traditional manipulator; At dangerous operation, industries such as manufacturing industry, service trade have broad application prospects.

Above-mentioned explanation only is the general introduction of the utility model technical scheme, in order more to know the technological means of understanding the utility model, and can implement according to the content of specification, below with the preferred embodiment of the utility model and conjunction with figs. specify as after.The specific embodiment of the utility model is provided by following examples and accompanying drawing thereof in detail.

Description of drawings

Fig. 1 is the structural representation of the handling machinery hand system of the utility model.

Label declaration among the figure: 1. rotary cylinder, 2. telescopic cylinder, 3. lift cylinder 4. folds up cylinder, 5. left workbench, 6. right workbench.

The specific embodiment

Below in conjunction with accompanying drawing and embodiment the technological implementation process of the utility model is further specified.

In conjunction with shown in Figure 1, the handling machinery hand system of the utility model, by rotary cylinder 1, telescopic cylinder 2, lift cylinder 3, fold up 4 four cylinders of cylinder and form, said four cylinders are controlled by corresponding solenoid valve again.Wherein, but the rotary cylinder 1 of left rotation and right rotation, can stretch out withdrawal telescopic cylinder 2, can clamp loosen fold up cylinder 4 respectively by the control of three two five-way dual-coil electromagnetic valves, but the lift cylinder 3 of rise and fall is by a two-bit triplet list solenoid control.The task of conveying robot is to move the workpiece on the left workbench 5 on the right workbench 6 to, and wherein, telescopic cylinder 2 and lift cylinder 3 are respectively by two solenoid control of twin coil.

During the energising of decline magnetic valve, manipulator descends; During the outage of decline magnetic valve, manipulator descends and stops.When having only the energising of rising magnetic valve, manipulator just rises; During the outage of rising magnetic valve, manipulator rises and stops.Equally, telescopic cylinder 2 is respectively by the magnetic valve and the solenoid control that moves to right of moving to left.The cylinder 4 that folds up of manipulator is controlled (this coil electricity, manipulator clamping by a unicoil (be called and clamp magnetic valve); This coil blackout, manipulator loosens).

Conveying robot system support is controlled with Mitsubishi FX2N-48MR PLC.See from control mode, the electrical equipment control hardwire, logic is in case confirm that will change logic OR increase function is very much difficulty; And the plc soft wiring only needs to change control program and just can change logic OR increase function easily; See from working method, the electrical equipment control concurrent working, and the plc work in series is not restricted; See that from control rate electrical equipment control speed is slow, the contact is prone to shake; And plc controls through semiconductor, and speed is very fast, and is contactless, so there be not saying of shake; From reliable, safeguard and see: the electrical equipment control contact is many, can produce mechanical wear and electric arc burn, and wiring is also many, and is reliable, maintainability is poor; Plc is contactless, and the life-span is long, and self-diagnosing function is arranged, to the monitoring function that program is carried out, field adjustable and easy to maintenance.

Concrete operating state and mode of operation are following:

1. original state, manipulator be in left indentation position, promptly paw open, forearm in the withdrawal position, big arm in the withdrawal position, big arm is in left-handed position.

2. realize resetting, semi-automatic two kinds of mode of operations, and these two kinds of patterns will realize interlocking.

Reset mode:, and return to initial bit to manipulator the auxiliary relay zero clearing;

Semi-automatic pattern: whenever press the one-shot button and carry out a carrying circulation.

3. under the reset mode, press SR, manipulator according to paw open, forearm resets in the order of withdrawal, big arm dextrorotation at withdrawal, big arm.

4. start button is pressed under the semi-automatic pattern, and manipulator carries out work by the instruction sequence of movement.

5. manipulator begins the indicator lamp flicker at initial point and under semi-automatic pattern.

Under reset mode manipulator as not glimmering at the initial point homing light.

7. semi-automatic pattern is automatic, the reset mode indicator lamp is bright, and reset mode is automatic, the reset mode indicator lamp goes out.

The foregoing description is technical conceive and the characteristics for the utility model is described just, its objective is to be the content that lets the one of ordinary skilled in the art can understand the utility model and to implement according to this, can not limit the protection domain of the utility model with this.The variation or the modification of every equivalence of having done according to the essence of the utility model content all should be encompassed in the protection domain of the utility model.

Claims

1. handling machinery hand system; It is characterized in that; Comprise by the rotary cylinder (1), telescopic cylinder (2), the lift cylinder (3) that link to each other successively and fold up these four cylinders of cylinder (4) and form that fold up cylinder and have paw, said four cylinders are controlled by corresponding solenoid valve; Said rotary cylinder (1), telescopic cylinder (2) and fold up these four cylinders of cylinder (4) respectively by the control of three two five-way dual-coil electromagnetic valves, lift cylinder is by a two-bit triplet list solenoid control.

2. handling machinery hand system according to claim 1 is characterized in that, said telescopic cylinder (2) and lift cylinder (3) are respectively by two solenoid control of twin coil.

3. handling machinery hand system according to claim 1 is characterized in that, said handling machinery hand system carries out the control of electric circuit with PLC.