CN103448052A - Novel vacuum handling manipulator - Google Patents
Novel vacuum handling manipulator Download PDFInfo
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- CN103448052A CN103448052A CN201210191481XA CN201210191481A CN103448052A CN 103448052 A CN103448052 A CN 103448052A CN 201210191481X A CN201210191481X A CN 201210191481XA CN 201210191481 A CN201210191481 A CN 201210191481A CN 103448052 A CN103448052 A CN 103448052A
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Abstract
The invention relates to a manipulator, in particular to a novel vacuum handling manipulator. A main rotary block is disposed at the top end of a column of the manipulator and is connected with a large side plate through a main rotary shaft. A main lifting cylinder is arranged at the lower end of the left of the large side plate. A main joint locking device is arranged between the main rotary block and the large side plate. One end of a swing main arm and one end of a swing auxiliary arm are both connected with the large side plate; the other end of the swing main arm and the other end of the swing auxiliary arm are both connected with a connecting plate; a transverse arm rotary block is connected with a rotary arm through a rotary arm spindle; an auxiliary joint locking device is arranged between the rotary arm and the transverse arm rotary block; a vertical arm rotary block is arranged at the tail end of the rotary arm and is connected with an auxiliary rotary shaft; the auxiliary rotary shaft is connected with a lower vertical arm; a vacuum sucker is arranged at the tail end of the lower vertical arm. According to the vacuum principle, the manipulator sucks an object and balances gravity of the object; so that the steps such as moving, turning and assembly can be easily completed for the object by an operator basically feeling no gravity of the object, and operation is simple, easy, efficient and safe.
Description
Technical field
The present invention relates to a kind of manipulator, particularly a kind of novel evacuated conveying robot, be applicable to the carrying of glass, coiled material, tubing and all kinds of materials that other surface is more smooth, shape is more regular.
Background technology
Since reform and opening-up, the national economy rapid growth, " scientific and technical innovation, autonomous innovation " become the main flow of domestic industry development, and China's industry is just progressively to the future development of intensive style, energy-saving and emission-reduction, low-carbon (LC).Because manipulator provides very good assist transportation and assembling tool for rolling off the production line on material and producing the article assembling, can complete the three dimensions move loading actions such as weight crawl, carrying, upset, docking, vernier angle, thereby be widely used in industrial production.Manipulator can partly substitute people's heavy work to realize mechanization and the automation of producing, under the easy manipulation of operator, can complete many complex work of automatic robot, and production and use cost greatly reduce, the scope of application is also extensive simultaneously, and flexibility and mobility are larger.Vacuum carrying machinery hand is applicable to sheet material, glass, coiled material, tubing and other surface is more smooth, shape is more regular all kinds of material handlings.Common lifting appliance, when operation, exists certain impulsive force and bounce, and larger to the workpiece infringement, security performance and setting accuracy all do not reach ideal effect.The technical staff of R&D institution and enterprise is constantly exploring, is studying, and wishes to develop a kind of manipulator of easy to operate, superior performance, although make some progress, still exists the technical barrier not yet overcome in practice.
Summary of the invention
The object of the invention is to overcome above deficiency, a kind of novel evacuated conveying robot is provided, utilize the vacuum principle, absorbent bodies, and then the gravity of balance object, make operating personnel in the situation that fundamental sensation less than object gravity, easily completes the operations such as the carrying, upset, assembling of object, simple to operate, operate laborsaving, highly effective and safe.
The technical solution adopted for the present invention to solve the technical problems is: contain universal wheel, travelling car, pull bar, column, main lift cylinder, main rotating seat, main rotating shaft, the main joint locking device, large side plate, swing principal arm, swing auxiliary, the subjoint locking device, connecting plate, the transverse arm rotating seat, the turning arm main shaft, turning arm, the plumbing arm rotating seat, secondary rotating shaft, lower plumbing arm, handrail, vacuum cup, the travelling car cross section is rectangle, bottom it, four jiaos respectively are provided with a universal wheel, the travelling car top middle portion is provided with column, left side is provided with pull bar, the column top is provided with main rotating seat, rotatable 360 °, main rotating seat is connected with large side plate by main rotating shaft, be provided with pneumatic control valve in large side plate, pneumatic control valve is connected with main lift cylinder, lower end, large side plate left side is provided with main lift cylinder, large side plate is provided with interior plate, be provided with the main joint locking device between main rotating seat and large side plate, swinging principal arm is connected with large side plate respectively with swing auxiliary one end, the other end is connected with connecting plate respectively, swinging principal arm is positioned at swing auxiliary downside and parallels with the swing auxiliary, the transverse arm rotating seat is connected with turning arm by the turning arm main shaft, rotatable 300 ° of turning arm, be provided with the subjoint locking device between turning arm and transverse arm rotating seat, the turning arm end is provided with the plumbing arm rotating seat, rotatable 360 °, the plumbing arm rotating seat is connected with secondary rotating shaft, secondary rotating shaft is connected with lower plumbing arm, lower plumbing arm is provided with handrail, handrail is provided with computer controling box, lower plumbing arm end is provided with vacuum cup, inhale the vacuum cup lower end workpiece.
The present invention solves the know-why that its technical problem adopts: this manipulator utilizes vacuum adsorption principle, using vavuum pump or vacuum blower as vacuum source, produce vacuum by the air in the vacuum cup of finding time, thereby various workpiece are firmly picked up, and by swinging principal arm, swing auxiliary, turning arm, lower plumbing arm etc., workpiece handling is arrived to appointed place.This vacuum is to be produced by the vavuum pump of an outside or vacuum blower, the load lifting that does not need chain or rope hoist or other lifting means to capture or mention.By detecting the vacuum in vacuum cup, can automatically identify on lower plumbing arm no-load is arranged, and automatically adjust the air pressure in main lift cylinder through the pneumatic logic control loop, reach self balancing purpose.During work, weight is aerial just as being suspended in, and the collision in the time of can avoiding the product docking, avoid workpiece surface damage.In the working range of manipulator, operator can move to it optional position in three dimensions, thereby realizes the operation such as carrying, upset, assembling of workpiece.Complete machine need not electric-control system, only needs compressed air and vacuum source to get final product work, very convenient.
Travelling car is for changing station, and travelling car is provided with column, and the column top is provided with main rotating seat, can realize the principal rotating motion of manipulator, and the workpiece in 360 ° of scopes is on every side operated.It is fixed that the type selecting of vacuum carrying machinery hand is workpiece size, the material of carrying as required, weight is come, and different materials need to be used the sucker of unlike material.Such as surface of the work more coarse silica gel or polyurethane sucker for general option, add in addition sponge sucker lip, guarantee that sucker can adsorb safely.Select natural rubber or NBR sucker for the workpiece of surperficial smoother as glass.The temperature of the working environment of manipulator, the selection of the sucker material that humidity and workpiece temperature etc. all can affect.
The invention has the beneficial effects as follows:
1) easy operation: this manipulator is according to ergonomic designs, with the tractive force of operator up and down all around the automatic frame of three dimensions survey operation, alleviate workman's work load, flexible to operation, increase work efficiency;
2) suspension reaches and do not have bounce without impulsive force: this manipulator is mainly to rely on vacuum source to produce vacuum at the air of the sucker inside of finding time, can complete not damaged carrying or the material loading of workpiece, and while guaranteeing assembling product, flexible docking, impact and bounce while avoiding common lifting appliance operation, safety absorption, avoid workpiece surface damage;
3) registration: the zero-g suspended state guarantees that workpiece is to move at random accurately location on time.
4) safe: in the situation that the vavuum pump outage, energy reserve can keep load several hours, as long as there is suitable vacuum to exist in sucker, load just can not fallen.
The accompanying drawing explanation
Below that the invention will be further described in conjunction with the accompanying drawings and embodiments:
It in figure, is a kind of novel evacuated conveying robot structural representation.
In the drawings, 1 universal wheel, 2 travelling cars, 3 pull bars, 4 columns, 5 main lift cylinders, 6 main rotating seats, 7 main rotating shafts, 8 main joint locking devices, 9 large side plates, 10 swing principal arms, 11 and swing auxiliarys, 12 subjoint locking devices, 13 connecting plates, 14 transverse arm rotating seats, 15 turning arm main shafts, 16 turning arms, 17 plumbing arm rotating seats, 18 secondary rotating shafts, 19 times plumbing arms, 20 handrails, 21 vacuum cups, 22 workpiece.
The specific embodiment
In the drawings, travelling car 2 cross sections are rectangle, bottom it, four jiaos respectively are provided with a universal wheel 1, travelling car 2 top middle portion are provided with column 4, left side is provided with pull bar 3, column 4 tops are provided with main rotating seat 6, rotatable 360 °, main rotating seat 6 is connected with large side plate 9 by main rotating shaft 7, be provided with pneumatic control valve in large side plate 9, pneumatic control valve is connected with main lift cylinder 5, large side plate 9 lower ends, left side are provided with main lift cylinder 5, large side plate 9 is provided with interior plate, be provided with main joint locking device 8 between main rotating seat 6 and large side plate 9, swinging principal arm 10 is connected with large side plate 9 respectively with swing auxiliary 11 1 ends, the other end is connected with connecting plate 13 respectively, swinging principal arm 10 is positioned at swing auxiliary 11 downsides and parallels with swing auxiliary 11, transverse arm rotating seat 14 is connected with turning arm 16 by turning arm main shaft 15, rotatable 300 ° of turning arm 16, be provided with subjoint locking device 12 between turning arm 16 and transverse arm rotating seat 14, turning arm 16 ends are provided with plumbing arm rotating seat 17, rotatable 360 °, plumbing arm rotating seat 17 is connected with secondary rotating shaft 18, secondary rotating shaft 18 is connected with lower plumbing arm 19, lower plumbing arm 19 is provided with handrail 20, handrail 20 is provided with computer controling box, lower plumbing arm 19 ends are provided with vacuum cup 21, vacuum cup 21 lower ends are inhaled workpiece are arranged.
This manipulator utilizes vacuum adsorption principle, using vavuum pump or vacuum blower as vacuum source, produce vacuum by the air in the vacuum cup 21 of finding time, thereby various workpiece are firmly picked up, and by swinging principal arm 10, swing auxiliary 11, turning arm 16, lower plumbing arm 19 etc., workpiece handling is arrived to appointed place.This vacuum is to be produced by the vavuum pump of an outside or vacuum blower, the load lifting that does not need chain or rope hoist or other lifting means to capture or mention.By detecting the vacuum in vacuum cup 21, can automatically identify on lower plumbing arm 19 no-load is arranged, and automatically adjust the air pressure in main lift cylinder 5 through the pneumatic logic control loop, reach self balancing purpose.During work, weight is aerial just as being suspended in, and the collision in the time of can avoiding the product docking, avoid workpiece surface damage.In the working range of manipulator, operator can move to it optional position in three dimensions, thereby realizes the operation such as carrying, upset, assembling of workpiece.Complete machine need not electric-control system, only needs compressed air and vacuum source to get final product work, very convenient.
Travelling car 2 is for changing station, and travelling car 2 is provided with column 4, and column 4 tops are provided with main rotating seat 6, can realize the principal rotating motion of manipulator, and the workpiece in 360 ° of scopes is on every side operated.It is fixed that the type selecting of vacuum carrying machinery hand is workpiece size, the material of carrying as required, weight is come, and different materials need to be used the sucker of unlike material.Such as surface of the work more coarse silica gel or polyurethane sucker for general option, add in addition sponge sucker lip, guarantee that sucker can adsorb safely.Select natural rubber or NBR sucker for the workpiece of surperficial smoother as glass.The temperature of the working environment of manipulator, the selection of the sucker material that humidity and workpiece temperature etc. all can affect.
Claims (1)
1. novel evacuated conveying robot, contain universal wheel, travelling car, pull bar, column, main lift cylinder, main rotating seat, main rotating shaft, the main joint locking device, large side plate, swing principal arm, swing auxiliary, the subjoint locking device, connecting plate, the transverse arm rotating seat, the turning arm main shaft, turning arm, the plumbing arm rotating seat, secondary rotating shaft, lower plumbing arm, handrail, vacuum cup, it is characterized in that: the travelling car cross section is rectangle, bottom it, four jiaos respectively are provided with a universal wheel, the travelling car top middle portion is provided with column, left side is provided with pull bar, the column top is provided with main rotating seat, rotatable 360 °, main rotating seat is connected with large side plate by main rotating shaft, the column top is connected with lower end, large side plate right side, be provided with pneumatic control valve in large side plate, pneumatic control valve is connected with main lift cylinder, lower end, large side plate left side is provided with main lift cylinder, large side plate is provided with interior plate, be provided with the main joint locking device between main rotating seat and large side plate, swinging principal arm is connected with large side plate respectively with swing auxiliary one end, the other end is connected with connecting plate respectively, swinging principal arm is positioned at swing auxiliary downside and parallels with the swing auxiliary, the transverse arm rotating seat is connected with turning arm by the turning arm main shaft, rotatable 300 ° of turning arm, be provided with the subjoint locking device between turning arm and transverse arm rotating seat, the turning arm end is provided with the plumbing arm rotating seat, rotatable 360 °, the plumbing arm rotating seat is connected with secondary rotating shaft, secondary rotating shaft is connected with lower plumbing arm, lower plumbing arm is provided with handrail, handrail is provided with computer controling box, lower plumbing arm end is provided with vacuum cup, inhale the vacuum cup lower end workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210191481XA CN103448052A (en) | 2012-06-04 | 2012-06-04 | Novel vacuum handling manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210191481XA CN103448052A (en) | 2012-06-04 | 2012-06-04 | Novel vacuum handling manipulator |
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| CN103448052A true CN103448052A (en) | 2013-12-18 |
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| CN201210191481XA Pending CN103448052A (en) | 2012-06-04 | 2012-06-04 | Novel vacuum handling manipulator |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308840A (en) * | 2014-10-09 | 2015-01-28 | 苏州晓炎自动化设备有限公司 | Movable encasement manipulator |
| CN104476537A (en) * | 2014-12-10 | 2015-04-01 | 广西大学 | Multi-degree-of-freedom parallel mechanism type mobile spot welding robot |
| CN104526216A (en) * | 2014-12-12 | 2015-04-22 | 广西大学 | Multi-degree of freedom fine-adjustment wheel-type movable welding robot |
| CN104552243A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Controllable mechanism type metamorphic wheeled mobile welding robot |
| CN104552235A (en) * | 2014-12-18 | 2015-04-29 | 广西大学 | Multi-connecting rod moving mechanical hand having controllable space and comprising in-parallel closed loop sub chains |
| CN104589309A (en) * | 2014-12-12 | 2015-05-06 | 广西大学 | Multi-freedom-degree parallel mechanism type controllable mobile welding robot |
| CN104625519A (en) * | 2014-12-23 | 2015-05-20 | 广西大学 | Welding construction method using multi-degree-of-freedom controllable movable type connecting rod mechanism |
| CN104909306A (en) * | 2015-06-18 | 2015-09-16 | 钱尉茂 | Multi-direction forklift front fork |
| CN105738151A (en) * | 2016-02-25 | 2016-07-06 | 上海普朔自动化有限公司 | Active moving type negative-pressure sampling device |
| CN105798904A (en) * | 2016-04-28 | 2016-07-27 | 昆山邦泰汽车零部件制造有限公司 | Assembly mechanical arm |
| CN105834728A (en) * | 2016-04-28 | 2016-08-10 | 昆山邦泰汽车零部件制造有限公司 | Mechanical arm suitable for assembling robot |
| CN108237543A (en) * | 2018-01-16 | 2018-07-03 | 刘肖俊 | It is a kind of with high-reliability and high stability can mechanical processing put together machines people |
| CN110561454A (en) * | 2019-09-18 | 2019-12-13 | 塔克智能科技(南通)有限公司 | Feeding and discharging robot |
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| CN202241287U (en) * | 2011-10-20 | 2012-05-30 | 魏栋明 | Upright column-type boost mechanical arm |
| CN202668545U (en) * | 2012-06-04 | 2013-01-16 | 盐城市昱博自动化设备有限公司 | Novel vacuum carrying manipulator |
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| DE4039717A1 (en) * | 1990-12-13 | 1992-06-17 | Peter Dipl Ing Neugebauer | Tool manipulator for straightening damaged container walls - has tool at end of parallel linkage mounted on mobile frame with supporting struts |
| US5413454A (en) * | 1993-07-09 | 1995-05-09 | Movsesian; Peter | Mobile robotic arm |
| CN201183739Y (en) * | 2008-03-18 | 2009-01-21 | 上海力进铝质工程有限公司 | Hydraulic rotatable type vacuum four-claw glass hoister |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308840A (en) * | 2014-10-09 | 2015-01-28 | 苏州晓炎自动化设备有限公司 | Movable encasement manipulator |
| CN104476537A (en) * | 2014-12-10 | 2015-04-01 | 广西大学 | Multi-degree-of-freedom parallel mechanism type mobile spot welding robot |
| CN104526216A (en) * | 2014-12-12 | 2015-04-22 | 广西大学 | Multi-degree of freedom fine-adjustment wheel-type movable welding robot |
| CN104552243A (en) * | 2014-12-12 | 2015-04-29 | 广西大学 | Controllable mechanism type metamorphic wheeled mobile welding robot |
| CN104589309A (en) * | 2014-12-12 | 2015-05-06 | 广西大学 | Multi-freedom-degree parallel mechanism type controllable mobile welding robot |
| CN104552235A (en) * | 2014-12-18 | 2015-04-29 | 广西大学 | Multi-connecting rod moving mechanical hand having controllable space and comprising in-parallel closed loop sub chains |
| CN104625519A (en) * | 2014-12-23 | 2015-05-20 | 广西大学 | Welding construction method using multi-degree-of-freedom controllable movable type connecting rod mechanism |
| CN104909306A (en) * | 2015-06-18 | 2015-09-16 | 钱尉茂 | Multi-direction forklift front fork |
| CN104909306B (en) * | 2015-06-18 | 2018-02-09 | 浙江华和叉车有限公司 | A kind of multidirectional fork truck front fork |
| CN105738151A (en) * | 2016-02-25 | 2016-07-06 | 上海普朔自动化有限公司 | Active moving type negative-pressure sampling device |
| CN105798904A (en) * | 2016-04-28 | 2016-07-27 | 昆山邦泰汽车零部件制造有限公司 | Assembly mechanical arm |
| CN105834728A (en) * | 2016-04-28 | 2016-08-10 | 昆山邦泰汽车零部件制造有限公司 | Mechanical arm suitable for assembling robot |
| CN108237543A (en) * | 2018-01-16 | 2018-07-03 | 刘肖俊 | It is a kind of with high-reliability and high stability can mechanical processing put together machines people |
| CN110561454A (en) * | 2019-09-18 | 2019-12-13 | 塔克智能科技(南通)有限公司 | Feeding and discharging robot |
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Application publication date: 20131218 |