CN203471783U - Pneumatic carrying mechanical arm of hazardous articles - Google Patents
Pneumatic carrying mechanical arm of hazardous articles Download PDFInfo
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- CN203471783U CN203471783U CN201320594281.9U CN201320594281U CN203471783U CN 203471783 U CN203471783 U CN 203471783U CN 201320594281 U CN201320594281 U CN 201320594281U CN 203471783 U CN203471783 U CN 203471783U
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Abstract
The utility model discloses a pneumatic carrying mechanical arm of hazardous articles and relates to pneumatic carrying mechanical devices. The mechanical arm is provided with a base. An oscillating cylinder is vertically installed on the base. A telescopic cylinder is fixed to a piston rod of the oscillating cylinder. A lifting cylinder is installed on a piston rod of the telescopic cylinder. A grabbing cylinder is installed on a piston rod of the lifting cylinder. A turn-in device is installed on a piston rod of the grabbing cylinder. A left-hand limiting switch and a right-hand limiting switch are arranged at the two sides of the oscillating cylinder respectively. An extending limiting switch and a retraction limiting switch are arranged at the two sides of the telescopic cylinder respectively. An upper limiting switch and a lower limiting switch are arranged at the two ends of the lifting cylinder respectively. The mechanical arm further comprises a hydraulic control system respectively connected with the oscillating cylinder, the telescopic cylinder, the lifting cylinder and the grabbing cylinder and used for controlling the cylinders to move or stop moving and a controller connected with the hydraulic control system. The pneumatic carrying mechanical arm of the hazardous articles has the advantages that a worker can be partially or completely replaced by the mechanical arm so that operation can be safely finished and the labor conditions of the worker can be greatly improved.
Description
Technical field
The utility model relates to pneumatic handling machinery device, specifically a kind of dangerous material Pneumatic Manipulator.
Background technology
At present, domestic many dangerous material manufacturer, raw-material transportation is still completed by the mode of a dead lift, and automaticity is not high.Although manipulator does not have staff so flexible at present, it has the constantly duplication of labour and work, does not know fatigue, is fearless of danger, and the strength of snatch weight is than features such as the National People's Congress.In production, application machine hand can greatly raise labour productivity, guarantee product quality, realize safety in production, especially under the rugged environments such as high temperature, high pressure, low temperature, low pressure, dust, explosive, toxic gas and radioactivity, with staff direct control, be dangerous or at all impossible.
Therefore because dangerous material have the harmfulness such as inflammable, explosive, poisonous, in the production of dangerous material, transportation loading and unloading, brought great potential safety hazard.Along with making rapid progress of science and technology, automaticity requires more and more higher, and manually-operated carrying in the past and fixed conveyer belt are that main traditional dangerous material mode of transport can not adapt to the demand in market.Pneumatics has broken through traditional dead band technically simultaneously, is experiencing tremendous development, and can meet the specification requirement of Practical Project.Therefore, pneumatic antomation technology is applied to dangerous material carrying, the handling efficiency and the safety coefficient that improve dangerous material have great engineering significance.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art, the utility model provides a kind of dangerous material Pneumatic Manipulator; Replace staff to carry out work, can avoid the personal injury that causes due to operation fatigue or carelessness, improved widely workman's working condition.
The utility model is realized to enter technical scheme: a kind of dangerous material Pneumatic Manipulator, comprise base, the oscillating cylinder being vertically provided with on base, on the piston rod of oscillating cylinder, fix a telescopic cylinder, one lift cylinder is installed on the piston rod of telescopic cylinder, crawl cylinder is installed on the piston rod of lift cylinder, on the piston rod of crawl cylinder, is provided with and turns motion device; The both sides of oscillating cylinder are respectively equipped with left-handed limit switch and dextrorotation limit switch; The two ends of telescopic cylinder are provided with stretches out limit switch and retraction limit switch; The two ends of lift cylinder are provided with upper limit position switch and lower position switch; Also comprise one be connected with oscillating cylinder, telescopic cylinder, lift cylinder and crawl cylinder respectively for control above-mentioned cylinder moving and stop hydraulic control system, the controller being connected with hydraulic control system.
The beneficial effects of the utility model are: this manipulator has three one-movement-freedom-degrees and two rotary freedoms, realize respectively the lifting of manipulator, flexible, clamping, spinning movement, application machine hand can partly or entirely replace people to fulfil assignment safely, has improved widely workman's working condition.Meanwhile, simple but repeat in the operation of operation in some actions, with manipulator, replace staff to carry out work, can avoid the personal injury that causes due to operation fatigue or carelessness, there is very real meaning.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is described in further detail.
Fig. 1 is the utility model structural representation;
Fig. 2 is the utility model workflow schematic diagram;
Fig. 3 is HYDRAULIC CONTROL SYSTEM schematic diagram;
Fig. 4 is controller system flow chart;
Fig. 5 is that controller guidance panel is arranged schematic diagram;
Fig. 6 is controller terminals subgraphs.
The specific embodiment
As shown in Figure 1, a kind of dangerous material Pneumatic Manipulator has a base 15, the oscillating cylinder 11 being vertically provided with on base 15, on the piston rod of oscillating cylinder 11, fix a telescopic cylinder 9, one lift cylinder 10 is installed on the piston rod of telescopic cylinder 9, on the piston rod of lift cylinder 10, be provided with and capture cylinder 12, on the piston rod of crawl cylinder, grasp device 16 is installed; The both sides of oscillating cylinder 11 are respectively equipped with left-handed limit switch and dextrorotation limit switch; The two ends of telescopic cylinder are respectively equipped with stretches out limit switch and retraction limit switch; The two ends of lift cylinder are provided with upper limit position switch and lower position switch; Also comprise one respectively with oscillating cylinder 11, telescopic cylinder 9, lift cylinder 10 and capture cylinder 12 be connected for control above-mentioned cylinder moving and stop hydraulic control system, the controller being connected with hydraulic control system.The effect of controller is pressure, flow and the direction of controlling and regulate air in air-channel system, thereby assurance pneumatic actuator program is in accordance with regulations carried out work normally.
As shown in Figure 3, described hydraulic system comprises air compressor 1, cooler 2, minute water water trap 3, gas tank 4, air dryer 5, air cleaner 6, pressure-reducing valve 7 and the oil sprayer 8 connecting in turn, oil sprayer output connects 14, four 3 position-5 way magnetic valves of four 3 position-5 way magnetic valves respectively by corresponding oil suction chamber and the oil back chamber that connects oscillating cylinder 11, telescopic cylinder 9, lift cylinder 10 and capture cylinder 12 of two pipelines; Magnetic valve in four 3 position-5 way magnetic valves is all connected with controller.
The effect of 3 position-5 way magnetic valve is pressure, flow and the direction of controlling and regulate air in air-channel system, thereby assurance pneumatic actuator program is in accordance with regulations carried out work normally.The 4A130C-M5AC220V type 3 position-5 way magnetic valve that 3 position-5 way magnetic valve adopts Ya De visitor company to produce, and each cylinder is all can carry out speed governing by exhaust throttle mode all at the exhaust outlet of magnetic valve, increased throttle screw (conical surface type), increased the movement velocity that the cylinder of throttle nail not only can adjusting cylinders and the work that can play noise elimination in order to reduce the pollution of noise.
Cylinder is to utilize compressed-air actuated pressure energy to be converted to a kind of energy conversion device of mechanical energy.It can power output, drives working portion moving linearly or reciprocally swinging.Described telescopic cylinder, lift cylinder and crawl cylinder adopt respectively double-acting type piston type cylinder, and described oscillating cylinder adopts single blade oscillating cylinder.Compressed air is become to the mechanical energy of gyration, pendulum angle is less than or equal to 180 °, if adopt straight dynamic air cylinder to drive rack pinion to obtain gyration, not only structure is not compact but also maintenance is inconvenient.
On two pipelines of 3 position-5 way magnetic valve and cylinder, one-way throttle valve 13 is all installed respectively, speed when respectively speed during control cylinder feeding also can adjusting cylinders be retracted, the realization throttle style of giving vent to anger carries out the movement velocity of adjusting cylinders, regulates choke valve can obtain different speed.Used one-way throttle valve to regulate on the one hand the movement velocity of cylinder to play the effect of buffering, also increased on the other hand security and when magnetic valve breaks down, can make the cylinder there is auto-lock function to prevent fortuitous event.
In direction control circuit, the loop that the piston of double-acting type cylinder can stop at an arbitrary position.In employing, seal the automatically controlled guiding valve of formula 3 position-5 way twin coil, when guiding valve is in centre position, each mouthful of different piston rod can rest on the optional position of cylinder.This loop does not allow the situation of gas leakage, and guarantee cylinder is worked reliably like this.In speed control loop, be by two two gas circuits that are contained in cylinder to choke valve, the exhaust velocity during motion of control cylinder both direction, regulates choke valve can obtain different movement velocitys respectively.
Above-mentioned cylinder adds the use of 3 position-5 way magnetic valve and limit switch, 3 position-5 way magnetic valve can make cylinder stop at an arbitrary position, thereby make the radius of clean-up of manipulator, flexible stroke and lifting travel can regulate to meet the carrying work of different distance, limit switch provides the mechanism action signal that puts in place, in order to avoid prevent mechanism action from exceeding scope of design, has an accident.
As shown in Figure 2, this manipulator can be used to from left workbench, move workpiece to right workbench, and it is as shown in table 1 that its course of action is divided into 10 work steps, and from original position, start order and complete one-period after 10 actions, and reposition.The workpiece quality m that this manipulator can capture is 10 kg, in carrying material process vertical direction acceleration and horizontal direction acceleration to be 0. 3g(g be acceleration of gravity), the radius of gyration r of Plane Rotation is 0.5 m, and rotational angular velocity ω is 3.5 rad/s, and angular acceleration β is 2.1 rad/
, rotational angle is 180.
table 1
("+" is coil electricity, and "-" is coil blackout)
As shown in Figure 4, controller adopts with S7-200 PLC, by the control to manipulator pneumatic system, realizes the motion cycle of manipulator.When initial, pass through guidance panel, the position of the cylinder that setting will be controlled, S7-200 PLC obtains input quantity through input port, and S7-200 PLC is through input quantity is processed, and output is controlled.In this design, directly controlled device is relay, by the action of relay, more then controlling of magnetic valve is passed through to the motion of solenoid control cylinder.In order accurately to control, thereby used closed-loop control system in this example, position sensor obtains position quantity, and the value of obtaining is delivered to the input port of S7-200 PLC through I/O binding post, carries out FEEDBACK CONTROL, thereby improves the precision of system.
As shown in Figure 5, controller guidance panel comprises original position indication, hand switch and working mode selection, and manually selection mode comprise clamp/loosen, conrotatory/contrary is revolved, stretch/shrink, eight actions of up/down; Working method be divided into again manually and automatically wherein automatic operation mode have and comprise: step-by-step operation, single cycle operation, continued operation mode.
Connecting I1.1 is single operation mode, and manual operation is selected with start/stop button in the position of selecting according to hand switch.When selected rise/fall motion under in mode, press start button, manipulator rises; Press only button, manipulator declines, and the control of other action is similar.When generally keeping in repair, this mode uses.
Connecting I1.2 is step-by-step operation mode, and manipulator, when initial point, is often pressed one-shot push-button mechanical hand and carried out once motion, and while pressing stop button, manipulator returns to original position.
Connecting I1.3 is single cycle operation mode, and manipulator, when initial point, is pressed start button, and automatic operation one-period is pressed stop button manipulator and can be stopped action, again presses start button and can continue to carry out the current action not executing.
Connecting I1.4 is continued operation mode, and manipulator, when initial point, is pressed start button, carries out continuously automatic cycle operation, and when pressing stop button, manipulator completes and automatically gets back to initial point after this sampling action and do not restart.
Original position indication, when manipulator is positioned at original position, now original position indicator lamp lights.
Start, for controlling the startup of manipulator.
Stop, pressing stop button has different effects under different operational modes.
Suddenly stop, press scram button manipulator and can make manipulator stop action in current location, unclamp scram button machine after tool hand can continue the action not executing.
Manipulator control system I/O allocation table as shown in table 2,
table 2
As shown in Figure 6, S7-200 PLC adopts AC220V 50Hz AC-powered, and wherein switch and probe power adopt the power supply of S100-24V Switching Power Supply.In design because the electromagnetic valve coil adopting is AC220V power supply, so the action of the excessive damage of electric current PLC magnetic valve is to control by the adhesive of relay when preventing electromagnetic valve work.In the design, adopt MY2NJ-24VDC type relay.
Claims (5)
1. a dangerous material Pneumatic Manipulator, it is characterized in that: comprise base (15), the oscillating cylinder (11) being vertically provided with on base (15), on the piston rod of oscillating cylinder (11), fix a telescopic cylinder (9), one lift cylinder (10) is installed on the piston rod of telescopic cylinder (9), on the piston rod of lift cylinder (10), be provided with and capture cylinder (12), on the piston rod of crawl cylinder, grasp device (16) is installed; The both sides of oscillating cylinder (11) are respectively equipped with left-handed limit switch and dextrorotation limit switch; The two ends of telescopic cylinder are respectively equipped with stretches out limit switch and retraction limit switch; The two ends of lift cylinder are provided with upper limit position switch and lower position switch; Also comprise one respectively with oscillating cylinder (11), telescopic cylinder (9), lift cylinder (10) and capture cylinder (12) is connected for control above-mentioned cylinder moving with stop hydraulic control system, the controller being connected with hydraulic control system.
2. dangerous material Pneumatic Manipulator according to claim 1, it is characterized in that: described hydraulic system comprises the air compressor (1) connecting in turn, cooler (2), divide water water trap (3), gas tank (4), air dryer (5), air cleaner (6), pressure-reducing valve (7) and oil sprayer (8), oil sprayer output connects four 3 position-5 way magnetic valves (14), four 3 position-5 way magnetic valves are respectively by the corresponding oscillating cylinder (11) that connects of two pipelines, telescopic cylinder (9), oil suction chamber and the oil back chamber of lift cylinder (10) and crawl cylinder (12), magnetic valve in four 3 position-5 way magnetic valves is all connected with controller.
3. dangerous material Pneumatic Manipulator according to claim 1, is characterized in that: described controller adopts PLC.
4. dangerous material Pneumatic Manipulator according to claim 1, is characterized in that: on two pipelines of 3 position-5 way magnetic valve and cylinder, one-way throttle valve (13) is all installed respectively.
5. dangerous material Pneumatic Manipulator according to claim 1, is characterized in that: described telescopic cylinder, lift cylinder and crawl cylinder adopt respectively double-acting type piston type cylinder, and described oscillating cylinder adopts single blade oscillating cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320594281.9U CN203471783U (en) | 2013-09-25 | 2013-09-25 | Pneumatic carrying mechanical arm of hazardous articles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320594281.9U CN203471783U (en) | 2013-09-25 | 2013-09-25 | Pneumatic carrying mechanical arm of hazardous articles |
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| Publication Number | Publication Date |
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| CN203471783U true CN203471783U (en) | 2014-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320594281.9U Expired - Fee Related CN203471783U (en) | 2013-09-25 | 2013-09-25 | Pneumatic carrying mechanical arm of hazardous articles |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104493002A (en) * | 2014-12-26 | 2015-04-08 | 苏州金逸康自动化设备有限公司 | Automatic loading and unloading device for punching machine |
| CN105904453A (en) * | 2016-04-22 | 2016-08-31 | 南京航空航天大学 | Function-configurable carrying mechanical arm based on intelligent air cylinders and carrying method |
| CN106181983A (en) * | 2016-08-16 | 2016-12-07 | 无锡百禾工业机器人有限公司 | A kind of circular cylindrical coordinate type industrial robot |
| CN106945060A (en) * | 2017-04-27 | 2017-07-14 | 沈阳飞机工业（集团）有限公司 | A kind of parts handler tool hand control device |
| CN106986128A (en) * | 2017-04-17 | 2017-07-28 | 国网山东省电力公司莒县供电公司 | A kind of Automated tridimensional warehousing system |
| CN107825470A (en) * | 2017-12-12 | 2018-03-23 | 赵友忠 | High-low pressure gas circulation dynamical system and robot dynamical system |
| CN108422417A (en) * | 2018-04-18 | 2018-08-21 | 广州大学 | A kind of multipurpose pneumatic machinery arm assembly and air pressure transmission control system |
| CN108533543A (en) * | 2018-05-28 | 2018-09-14 | 宜昌长机科技有限责任公司 | Mechanical grip and jacking integrated pneumatic control system based on Pneumatic speed regulating valve and method |
| CN109178265A (en) * | 2018-10-16 | 2019-01-11 | 中电科海洋信息技术研究院有限公司 | Recyclable device |
| CN109261539A (en) * | 2018-08-17 | 2019-01-25 | 湖北文理学院 | A kind of garbage sorting system and method for view-based access control model identification and convolutional neural networks |
| CN112060059A (en) * | 2020-09-11 | 2020-12-11 | 赵敏 | Mechanical arm base is used in smart machine production convenient to remove and fix |
-
2013
- 2013-09-25 CN CN201320594281.9U patent/CN203471783U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104493002A (en) * | 2014-12-26 | 2015-04-08 | 苏州金逸康自动化设备有限公司 | Automatic loading and unloading device for punching machine |
| CN105904453A (en) * | 2016-04-22 | 2016-08-31 | 南京航空航天大学 | Function-configurable carrying mechanical arm based on intelligent air cylinders and carrying method |
| CN106181983A (en) * | 2016-08-16 | 2016-12-07 | 无锡百禾工业机器人有限公司 | A kind of circular cylindrical coordinate type industrial robot |
| CN106986128A (en) * | 2017-04-17 | 2017-07-28 | 国网山东省电力公司莒县供电公司 | A kind of Automated tridimensional warehousing system |
| CN106945060A (en) * | 2017-04-27 | 2017-07-14 | 沈阳飞机工业（集团）有限公司 | A kind of parts handler tool hand control device |
| CN107825470A (en) * | 2017-12-12 | 2018-03-23 | 赵友忠 | High-low pressure gas circulation dynamical system and robot dynamical system |
| CN108422417A (en) * | 2018-04-18 | 2018-08-21 | 广州大学 | A kind of multipurpose pneumatic machinery arm assembly and air pressure transmission control system |
| CN108533543A (en) * | 2018-05-28 | 2018-09-14 | 宜昌长机科技有限责任公司 | Mechanical grip and jacking integrated pneumatic control system based on Pneumatic speed regulating valve and method |
| CN108533543B (en) * | 2018-05-28 | 2024-03-08 | 宜昌长机科技有限责任公司 | Mechanical clamping jaw and jacking integrated pneumatic control system and method based on pneumatic speed control valve |
| CN109261539A (en) * | 2018-08-17 | 2019-01-25 | 湖北文理学院 | A kind of garbage sorting system and method for view-based access control model identification and convolutional neural networks |
| CN109261539B (en) * | 2018-08-17 | 2021-06-18 | 湖北文理学院 | Garbage sorting system and method based on visual identification and convolutional neural network |
| CN109178265A (en) * | 2018-10-16 | 2019-01-11 | 中电科海洋信息技术研究院有限公司 | Recyclable device |
| CN112060059A (en) * | 2020-09-11 | 2020-12-11 | 赵敏 | Mechanical arm base is used in smart machine production convenient to remove and fix |
| CN112060059B (en) * | 2020-09-11 | 2021-11-05 | 山东鲁泰建材科技集团有限公司 | Mechanical arm base is used in smart machine production convenient to remove and fix |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140312 Termination date: 20140925 |
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| EXPY | Termination of patent right or utility model |