CN204844161U - Four degree of freedom pneumatic manipulator - Google Patents
Four degree of freedom pneumatic manipulator Download PDFInfo
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- CN204844161U CN204844161U CN201520507585.6U CN201520507585U CN204844161U CN 204844161 U CN204844161 U CN 204844161U CN 201520507585 U CN201520507585 U CN 201520507585U CN 204844161 U CN204844161 U CN 204844161U
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Abstract
The utility model provides a four degree of freedom pneumatic manipulator, includes rotational positioning device, arm telescoping device, arm elevating gear and hand claw pickup apparatus. The oscillating cylinder of rotational positioning device passes through the connecting plate and installs in the support, and the oscillating cylinder connector passes through thrust bearing and installs on the support, the bearing plate of arm telescoping device passes through the bolt fastening on the oscillating cylinder connector, and telescopic cylinder passes through the supporting rack and installs on the bearing plate with the bolt, and the horizontal guiding pole passes through the supporting rack and installs with the guide block, arm elevating gear's deflector passes through bolt and telescopic cylinder connecting piece and telescopic cylinder's piston head binding, and the self -lubricating turn -ups sliding sleeve that sets up is installed to the vertical guide pole on the deflector in, the lift cylinder passes through the bolt and the lifting air cylinder connected board is fixed on the deflector, hand claw pickup apparatus includes pneumatic hand claw, and pneumatic hand claw passes through hand claw connecting plate and hand claw connecting piece is fixed on the piston head of lift cylinder. The loss of its resistance is little, the automatic control of being convenient for, and operational environment adaptability is good.
Description
Technical field
The utility model relates to a kind of manipulator, specifically a kind of four-degree-of-freedom Pneumatic manipulator.
Background technology
Manipulator is a kind of bionical product, by imitating the partial act of staff, can realize pressing preset sequence, and the mechanical device of automatic capturing and carrying function is carried out in the track drafted and requirement.There is reliable in action, structure is simple, operating efficiency is high advantage.Especially at hot environment, hyperbaric environment, low temperature environment, environment under low pressure, have dust atmosphere, inflammable and explosive environment, containing in the rugged environments such as poisonous and hazardous gas and radioactive substance, replace people to work normally with it, ensure that the continuity of operation and the safety of workman.Therefore, be widely applied in the industrial production.The version of the manipulator of prior art is fairly simple, and specificity is comparatively strong, is the special manipulator being attached to certain lathe or certain operating environment.Lack a kind of change working procedure that can be very fast, range of application is relatively wider, the four-degree-of-freedom Pneumatic manipulator that the small batch being applicable to constantly convert production kind is produced.
Summary of the invention
Technical problem to be solved in the utility model overcomes above-mentioned the deficiencies in the prior art, provides a kind of free degree variable, be convenient to automatic control, the four-degree-of-freedom Pneumatic manipulator that applicable surface is wider.
The technical scheme in the invention for solving the technical problem is: a kind of four-degree-of-freedom Pneumatic manipulator, comprises rotary positioning apparatus, arm retractor device, arm lowering or hoisting gear and paw pick device.
Described rotary positioning apparatus comprises bearing, oscillating cylinder, connecting plate, thrust bearing and oscillating cylinder connector, and oscillating cylinder is arranged in bearing by connecting plate, and oscillating cylinder connector is arranged on bearing by thrust bearing.
Described arm retractor device comprises bearing plate, telescopic cylinder, bearing support, sliding bearing, horizontally-guided bar and guide pad thereof, bearing plate is bolted on oscillating cylinder connector, telescopic cylinder is arranged on bearing plate by bearing support and bolt, two horizontally-guided bars arranged in parallel are installed by bearing support and guide pad, all arrange guide post sliding bearing in bearing support and guide pad.
Described arm lowering or hoisting gear comprises lift cylinder, lift cylinder connecting plate, guide plate and vertically-guided bar, guide plate is linked by the piston head of bolt and telescopic cylinder connector and telescopic cylinder, one end of horizontally-guided bar is fixed on guide plate, two vertically-guided bars arranged in parallel are arranged in self-lubricating flange sliding sleeve that guide plate is arranged, and lift cylinder is fixed on guide plate by bolt and lift cylinder connecting plate.
Described paw pick device comprises Pneumatic paw, and Pneumatic paw is fixed on the piston head of lift cylinder by paw connecting plate and paw connector, and one end of vertically-guided bar is fixed on paw connecting plate.
This four-degree-of-freedom Pneumatic manipulator provided by the utility model, the free degree is variable, and control program is adjustable, is swift in motion, and is quick on the draw, and drag losses is less with leakage, and be convenient to automatic control, working environment adaptability is good.
Accompanying drawing explanation
The structural representation of the four-degree-of-freedom Pneumatic manipulator that Fig. 1 provides for the utility model embodiment;
Fig. 2 is the A partial enlarged drawing of Fig. 1;
Fig. 3 is the B partial enlarged drawing of Fig. 1;
Mark in figure: 1, bearing, 2, connecting plate, 3, oscillating cylinder, 4, thrust bearing, 5, oscillating cylinder connector, 6, bearing plate, 7, telescopic cylinder, 8, horizontally-guided bar, 9, guide pad, 10, bearing support, 11, sliding bearing, 12 lift cylinders, 13, lift cylinder connecting plate, 14, guide plate, 15, telescopic cylinder connector, 16, vertically-guided bar, 17, paw connector, 18, paw connecting plate, 19, Pneumatic paw, 20, bearing block, 21, self-lubricating flange sliding sleeve.
Detailed description of the invention
Below in conjunction with embodiment, the utility model is described in further detail, but do not limit protection domain of the present utility model.
With reference to accompanying drawing 1 ~ 3, the four-degree-of-freedom Pneumatic manipulator that the utility model embodiment provides, comprises rotary positioning apparatus, arm retractor device, arm lowering or hoisting gear and paw pick device.
Described rotary positioning apparatus comprises bearing 1, oscillating cylinder 3, connecting plate 2, thrust bearing 4 and oscillating cylinder connector 5, oscillating cylinder 3 is arranged in bearing 1 by connecting plate 2, and oscillating cylinder connector 5 is arranged on bearing 1 by thrust bearing 4 and bearing block 20 thereof.
Described arm retractor device comprises bearing plate 6, telescopic cylinder 7, bearing support 10, sliding bearing 11, horizontally-guided bar 8 and guide pad 9 thereof, bearing plate 6 is bolted on oscillating cylinder connector 5, telescopic cylinder 7 selects the CM2 series cylinder of SMC company, it is arranged on bearing plate 6 by bearing support 10 and bolt, two horizontally-guided bars 8 arranged in parallel are installed by bearing support 10 and guide pad 9, all arrange guide post sliding bearing 11 in bearing support 10 and guide pad 9.
Described arm lowering or hoisting gear comprises lift cylinder 12, lift cylinder connecting plate 13, guide plate 14 and vertically-guided bar 16, guide plate 14 is linked with the piston head of telescopic cylinder 7 by bolt and telescopic cylinder connector 15, one end of horizontally-guided bar 8 is fixed on guide plate 14, two vertically-guided bars 16 arranged in parallel are arranged in the self-lubricating flange sliding sleeve 21 of setting on guide plate 14, lift cylinder 12 selects the CM2 series cylinder of SMC company, and it is fixed on guide plate 14 by bolt and lift cylinder connecting plate 13.
Described paw pick device comprises Pneumatic paw 19, Pneumatic paw 19 selects the MHZ2 type double acting gas pawl of SMC company, it is fixed on the piston head of lift cylinder 12 by paw connecting plate 18 and paw connector 17, and one end of vertically-guided bar 16 is fixed on paw connecting plate 18.
During work, oscillating cylinder drives integral-rotation more than bearing plate, and telescopic cylinder can realize along the movement in the horizontal direction of horizontally-guided bar, and lift cylinder can realize along the movement of vertically-guided bar at vertical direction, and Pneumatic paw can realize crawl and the placement of workpiece.
Claims (2)
1. a four-degree-of-freedom Pneumatic manipulator, is characterized in that: it comprises rotary positioning apparatus, arm retractor device, arm lowering or hoisting gear and paw pick device, described rotary positioning apparatus comprises bearing (1), oscillating cylinder (3), connecting plate (2), thrust bearing (4) and oscillating cylinder connector (5), oscillating cylinder (3) is arranged in bearing (1) by connecting plate (2), and oscillating cylinder connector (5) is arranged on bearing (1) by thrust bearing (4), described arm retractor device comprises bearing plate (6), telescopic cylinder (7), bearing support (10), sliding bearing (11), horizontally-guided bar (8) and guide pad (9) thereof, bearing plate (6) is bolted on oscillating cylinder connector (5), telescopic cylinder (7) is arranged on bearing plate (6) by bearing support (10) and bolt, two horizontally-guided bars (8) arranged in parallel are installed by bearing support (10) and guide pad (9), in bearing support (10) and guide pad (9), guide post sliding bearing (11) is all set, described arm lowering or hoisting gear comprises lift cylinder (12), lift cylinder connecting plate (13), guide plate (14) and vertically-guided bar (16), guide plate (14) is linked with the piston head of telescopic cylinder (7) by bolt and telescopic cylinder connector (15), one end of horizontally-guided bar (8) is fixed on guide plate (14), two vertically-guided bars (16) arranged in parallel are arranged in the upper self-lubricating flange sliding sleeve (21) arranged of guide plate (14), lift cylinder (12) is fixed on guide plate (14) by bolt and lift cylinder connecting plate (13), described paw pick device comprises Pneumatic paw (19), Pneumatic paw (19) is fixed on the piston head of lift cylinder (12) by paw connecting plate (18) and paw connector (17), and one end of vertically-guided bar (16) is fixed on paw connecting plate (18).
2. four-degree-of-freedom Pneumatic manipulator according to claim 1, it is characterized in that: described telescopic cylinder (7) selects the CM2 series cylinder of SMC company, lift cylinder (12) selects the CM2 series cylinder of SMC company, and Pneumatic paw (19) selects the MHZ2 type double acting gas pawl of SMC company.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520507585.6U CN204844161U (en) | 2015-07-14 | 2015-07-14 | Four degree of freedom pneumatic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520507585.6U CN204844161U (en) | 2015-07-14 | 2015-07-14 | Four degree of freedom pneumatic manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204844161U true CN204844161U (en) | 2015-12-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520507585.6U Expired - Fee Related CN204844161U (en) | 2015-07-14 | 2015-07-14 | Four degree of freedom pneumatic manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN204844161U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476018A (en) * | 2016-11-09 | 2017-03-08 | 杭州知加网络科技有限公司 | A kind of arm apparatus for intelligent robot |
| CN107538502A (en) * | 2017-08-31 | 2018-01-05 | 湖南匡楚科技有限公司 | The shared bicycle of municipal administration compiles device and compiles method automatically |
| CN108237518A (en) * | 2018-03-08 | 2018-07-03 | 安徽安凯汽车股份有限公司 | A kind of electronic multi-faceted general-purpose manipulator |
| 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 |
| CN109089536A (en) * | 2018-07-12 | 2018-12-28 | 浙江理工大学 | A kind of adjustable greenhouse leaf vegetables harvesting of front-rear position is completely cured manipulator |
| CN110512266A (en) * | 2019-08-30 | 2019-11-29 | 四川江淮汽车有限公司 | A kind of driver's cabin electrophoresis crosses the automation water-blowing device of line |
-
2015
- 2015-07-14 CN CN201520507585.6U patent/CN204844161U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106476018A (en) * | 2016-11-09 | 2017-03-08 | 杭州知加网络科技有限公司 | A kind of arm apparatus for intelligent robot |
| CN107538502A (en) * | 2017-08-31 | 2018-01-05 | 湖南匡楚科技有限公司 | The shared bicycle of municipal administration compiles device and compiles method automatically |
| CN107538502B (en) * | 2017-08-31 | 2024-03-19 | 湖南匡楚科技有限公司 | Municipal sharing bicycle automatic collecting and sorting device and collecting and sorting method |
| CN108237518A (en) * | 2018-03-08 | 2018-07-03 | 安徽安凯汽车股份有限公司 | A kind of electronic multi-faceted general-purpose manipulator |
| 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 |
| CN109089536A (en) * | 2018-07-12 | 2018-12-28 | 浙江理工大学 | A kind of adjustable greenhouse leaf vegetables harvesting of front-rear position is completely cured manipulator |
| CN110512266A (en) * | 2019-08-30 | 2019-11-29 | 四川江淮汽车有限公司 | A kind of driver's cabin electrophoresis crosses the automation water-blowing device of line |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151209 Termination date: 20160714 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |