CN201064900Y - Pneumatic balance manipulator - Google Patents

Abstract

A pneumatic balance manipulator comprises a fixed support, a hanging seat connected with the fixed support, a connecting shaft connected with a bearing of the hanging seat, a brake cylinder connected with a pneumatic mechanism and a brake clamp plate connected with the brake cylinder fixedly connected on the connecting shaft, a brake sheet matched with the brake clamp plate is fixedly connected with the hanging seat, the connecting shaft is connected with a four-bar linkage, one end of the four-bar linkage is connected with a cylinder driving the change of the four-bar linkage, the other end of the four-bar linkage is fixedly connected with the connecting shaft, the brake cylinder and the brake clamp plate connected with the brake cylinder, a brake sheet and an end arm are fixed on a rotating sleeve connected with the bearing of the connecting shaft, the brake sheet is matched with the brake clamp plate, and the. The work fixture and the workpiece connected with the connector can move in any spatial direction to reach the corresponding assembly position, the positioning is accurate, the time and the labor are saved, the operation is simple, the efficiency is high, and the production cost is reduced.

Description

Pneumatic Balance Manipulator

technical field

The utility model relates to a pneumatic balance manipulator, which is mainly used on the assembly line of industrial production to lift workpieces and move corresponding positions for assembly.

Background technique

The assembly of various workpieces in industrial production is mostly carried out on the assembly line, such as the automobile industry, home appliance industry, etc. During the assembly process, it is necessary to lift and move a certain weight of the workpiece to the corresponding position. Most of the small-mass workpieces are manually operated, but the large-mass workpieces need to be lifted by a crane, resulting in poor positioning accuracy of the workpieces, and it is difficult for lifting personnel and assembly personnel to cooperate, which affects assembly accuracy and production efficiency.

Contents of the invention

The purpose of the utility model is to provide a pneumatic balance manipulator for lifting and moving workpieces on the assembly line with high production efficiency, accurate positioning of workpieces and easy operation, so as to overcome the shortcomings of the prior art.

The pneumatic balance manipulator of the utility model comprises a fixed support 1, and a hanging seat 3 is connected with the fixed support 1. The bearing of the hanging seat 3 is connected with a connecting shaft 4, and the connecting shaft 4 is fixedly connected with a pneumatic mechanism 9. The brake cylinder 6 connected with the brake cylinder 6 and the brake splint 5 connected with the brake cylinder 6, the brake disc 24 matched with the brake splint 5 are fixedly connected with the suspension seat 3, and the connecting shaft 4 is connected with a four-bar linkage mechanism. One end of the four-bar linkage mechanism is connected to the cylinder 22 connected with the pneumatic mechanism 9 to drive its change, and the other end is fixedly connected with the connecting shaft 19 and the brake cylinder 17 connected with the pneumatic mechanism 9 and connected with the brake cylinder 17. The brake splint 16 is fixed with the brake disc 18 and the end arm 14 on the rotating sleeve 27 connected with the connecting shaft 19 bearings, the brake disc 18 is matched with the brake splint 16, and the end of the end arm 14 is connected with the connector 15 .

In the pneumatic balance manipulator of the present utility model, the structure of the four-bar linkage mechanism is as follows: the connecting shaft 4 is fixedly connected with a connecting plate 8, and the connecting plate 8 is respectively connected to the connecting rod 11 and one end shaft of the connecting rod 12, and the connecting rod 11 and The other end of connecting rod 12 is connected with support 13 axles respectively, forms four-bar linkage mechanism by connecting plate 8, connecting rod 11, connecting rod 12 and support 13, and described connecting shaft 19 is fixed on the support 13.

In the pneumatic balance manipulator of the utility model, the end of the cylinder 22 is movably connected with the cylinder mounting plate 23, the cylinder mounting plate 23 is connected with the connecting plate 8, and the extended end of the piston rod in the cylinder 22 is connected with the rotating arm 10. One end is connected with a shaft, and the other end of the rotating arm 10 is fixedly connected with the connecting rod 11 or the connecting rod 12 .

In the pneumatic balance manipulator of the present utility model, a limit rod 21 is provided between the cylinder mounting plate 23 or connecting plate 8 and the connecting rod 11 or connecting rod 12 .

In the pneumatic balance manipulator of the present utility model, one end of the limit rod 21 is axially connected to the cylinder mounting plate 23 or the connecting plate 8, and a sliding sleeve 28 is connected to the upper shaft of the connecting rod 11 or the connecting rod 12, and the limit rod 21 Matched with the sliding sleeve 28 , a nut 30 for adjusting the limit distance is provided on the limit rod 21 .

In the pneumatic balance manipulator of the utility model, the pneumatic mechanism 9 is installed on a mounting plate, and the mounting plate is fixedly connected with the connecting shaft 4 .

The pneumatic balance manipulator of the utility model has a suspension seat 3 connected to the fixed support 1, and the bearing of the suspension seat 3 is connected with a connecting shaft 4, and a braking cylinder connected with the pneumatic mechanism 9 is fixedly connected to the connecting shaft 4. 6 and the brake splint 5 connected with the brake cylinder 6, the brake disc 24 matched with the brake splint 5 is fixedly connected with the suspension seat 3, the connecting shaft 4 is connected with a four-bar linkage, and the four-bar linkage One end is connected to drive the cylinder 22 connected with the pneumatic mechanism 9, and the other end is fixedly connected with the connecting shaft 19, the brake cylinder 17 connected with the pneumatic mechanism 9 and the brake splint 16 connected with the brake cylinder 17. , a brake pad 18 and an end arm 14 are fixed on the swivel 27 bearing connection with the connecting shaft 19, the brake pad 18 is matched with the brake splint 16, the end of the end arm 14 is connected with a connector 15, through the connecting shaft 4 And the connecting shaft 19 makes the end arm 14 and the connecting head 15 rotatable relative to the fixed support 1, and the end arm 14 and the connecting head 15 can move up and down relative to the fixed support 1 through the cylinder 22 and the four-bar linkage connected thereto, finally As a result, the fixtures and workpieces connected to the connector 15 move in any direction in space to reach the corresponding assembly position, which is accurate, easy to operate, high in efficiency, and reduces production costs. Using this device can save labor, hundreds of kilograms of weight can be moved with less than five kilograms of force; load switching can be performed, the operating force is not affected by the size of the load, and the pneumatic system can balance the load; it can realize multi-axis and multi-degree-of-freedom rotation and Mobile, flexible operation.

Description of drawings

Fig. 1 is the structural representation of the specific embodiment of the pneumatic balance manipulator of the present utility model;

Fig. 2 is a top view schematic diagram shown in Fig. 1;

Fig. 3 is a schematic sectional view of A-A shown in Fig. 1;

Fig. 4 is B-B sectional schematic diagram shown in Fig. 1;

Fig. 5 is a schematic sectional view of C-C shown in Fig. 1;

FIG. 6 is a schematic cross-sectional view along D-D shown in FIG. 1 .

Detailed ways

As shown in Figures 1 and 2: 1 is a fixed support, and 3 is a hanging seat. The upper end of the hanging seat 3 is disc-shaped and connected with the fixed support 1 by bolts. The inner hole of the hanging seat 3 is equipped with a connecting shaft 4, a radial bearing 25 and a plane bearing 26 bearing axial force are installed between the connecting shaft 4 and the hanging seat 3, and the upper end of the connecting shaft 4 is threaded with a back Cap 2 is used for axial limit. The welding of the hanging base 3 has a connecting edge, and the brake pad 24 is fixed on the connecting edge by bolts, so that the braking pad 24 is fixedly connected with the hanging base 3 . The bottom end of the connecting shaft 4 is fixedly connected with a mounting plate with bolts, and the air reservoir 7 in the pneumatic mechanism 9 and the pneumatic mechanism is fixedly mounted on the mounting plate with bolts. The brake cylinder 6 that mechanism 9 joins, the brake splint 5 that matches with cylinder 6 matches with brake disc 24. Among them, the pneumatic mechanism 9, the air reservoir 7, the brake cylinder 6, the brake splint 5 and the brake disc 24 are all common pneumatic brake devices. When the brake cylinder 6 is driven by the pneumatic mechanism 9, the brake splint 5 can clamp Tighten the brake disc 24 so that the connecting shaft 4 is fixed relative to the fixed support 1 and cannot rotate. When the brake cylinder 6 drives the brake clamp 5 to release the brake disc 24, the connecting shaft 4 can rotate relative to the fixed support 1.

As shown in Figures 1, 3, and 4: the bottom end of the connecting shaft 4 is fixedly connected with two connecting plates 8 parallel to each other. The other end of the rod 11 and the connecting rod 12 is connected with the support 13 respectively, and the connecting plate 8, the connecting rod 11, the connecting rod 12 and the support 13 form a four-bar linkage mechanism. In order to make the four-bar linkage mechanism flexible, a bearing 31 can be installed at the connecting shaft.

As shown in Figures 1 and 5: a cylinder mounting plate 23 is welded on the connecting plate 8, and the connecting plate 8 and the cylinder mounting plate 23 can also be integrally structured, and the upper end of the cylinder mounting plate 23 is connected to the cylinder 22 through a shaft 32 and a bearing 33 One end of the cylinder 22 is movably connected with respect to the cylinder mounting plate 23. The outer end of the piston rod 20 matched with the cylinder 22 is connected with the rotating arm 10 through a shaft, and the rotating arm 10 is fixedly connected with the connecting rod 11 . When the cylinder 22 moves, the piston rod 20 stretches out or retracts, which can drive the rotating arm 10 and the connecting rod 11 to move, and finally the four-bar linkage mechanism changes to reach the working state.

As shown in Figures 1 and 6: In order to make the four-bar linkage mechanism have an upper and lower limit in the working state, the limit rod 21 is axially connected to the cylinder mounting plate 23 or the connecting plate 8, and the connecting rod 11 or the connecting rod 12 The shaft is connected with a sliding sleeve 28, and the sliding sleeve 28 is sleeved on the limit rod 21, and a nut 30 is threaded on the limit rod 21 on both sides of the sliding sleeve 28, and the distance between the nuts 30 on both sides determines the four The changing angle of the link mechanism plays a position-limiting role. For buffering and damping, a damping pad 29 is installed on the limit rod 21, and when the damping pad 29 is in contact with the sliding sleeve 28, it can play a buffering role and prevent impact.

As shown in Figure 1: 19 is the connecting shaft, the upper end of the connecting shaft 19 and the support 13 are fixedly connected by bolts, the lower part of the connecting shaft 19 is covered with a rotating sleeve 27, and the connecting shaft 19 and the rotating sleeve 27 are equipped with The plane bearing bearing the axial force and the bearing bearing the radial force are screwed with a back cap at the bottom end of the connecting shaft 19 for axial spacing. A brake pad 18 is bolted on the upper end of the swivel 27, and a brake cylinder 17 connected with the pneumatic mechanism 9 is bolted on the support 13. The brake splint 16 connected with the brake cylinder 17 and the brake pad 18, when the brake cylinder 17 works to make the brake splint 16 clamp the brake pad 18, the rotary sleeve 27 is non-rotatable relative to the connecting shaft 19, and when the brake splint 16 is loosened, the rotary sleeve 27 is relative to the connecting shaft 19 can be rotated. The outer side of the rotating sleeve 27 is welded to one end of the end arm 14 , and the other end of the end arm 14 is welded with a connector 15 .

The fixture for gripping the workpiece is installed on the connecting head 15 . When working, the device can make the workpiece stay at any position in the space, which is convenient for assembly.

The fixed support 1 in the device can be fixed on the mounting frame above the production line to form a hanging manipulator, or the fixed support 1 can be made into a column and fixed on the ground to form a vertical manipulator.

Claims (6)

1. A pneumatic balance manipulator, characterized in that: it includes a fixed support (1), a suspension seat (3) is connected to the fixed support (1), and a connecting shaft (4) is connected to the bearing of the suspension seat (3) , the connecting shaft (4) is fixedly connected with the brake cylinder (6) connected with the pneumatic mechanism (9) and the brake splint (5) connected with the brake cylinder (6), and the brake splint (5) ) matching brake pads (24) are fixedly connected with the suspension seat (3), and the connecting shaft (4) is connected with a four-bar linkage mechanism, and one end of the four-bar linkage mechanism is connected to the pneumatic mechanism (9) that drives its change. The connected cylinder (22), the other end is fixedly connected with the connecting shaft (19) and the brake cylinder (17) connected with the pneumatic mechanism (9) and the brake splint (16) connected with the brake cylinder (17). ), a brake pad (18) and an end arm (14) are fixed on the swivel (27) connected to the bearing of the connecting shaft (19), the brake pad (18) is matched with the brake splint (16), and the end arm ( 14) the terminal is connected with connector (15). 2. The pneumatic balancing manipulator according to claim 1, characterized in that: the structure of the four-bar linkage mechanism is: the connecting shaft (4) is fixedly connected with a connecting plate (8), and the connecting plate (8) is respectively connected to the connecting rod (11) is connected with one end shaft of connecting rod (12), and the other end of connecting rod (11) and connecting rod (12) is connected with support (13) shaft respectively, by connecting plate (8), connecting rod (11) , the connecting rod (12) and the support (13) form a four-bar linkage mechanism, and the described connecting shaft (19) is fixed on the support (13). 3. The pneumatic balancing manipulator according to claim 2, characterized in that: the end of the cylinder (22) is movably connected to the cylinder mounting plate (23), and the cylinder mounting plate (23) is connected to the connecting plate (8) Then, the piston rod extension end in the cylinder (22) is connected with an end shaft of the rotating arm (10), and the other end of the rotating arm (10) is fixedly connected with the connecting rod (11) or connecting rod (12). 4. The pneumatic balancing manipulator according to claim 3, characterized in that: a limit rod is provided between the cylinder mounting plate (23) or connecting plate (8) and the connecting rod (11) or connecting rod (12) (twenty one). 5. The pneumatic balancing manipulator according to claim 4, characterized in that: one end of the limit rod (21) is axially connected to the cylinder mounting plate (23) or the connecting plate (8), and the connecting rod (11) Or connecting rod (12) upper shaft is connected with sliding sleeve (28), and stop bar (21) matches with slide cover (28), is provided with the nut (30) that adjusts the limit distance on stop bar (21). 6. The pneumatic balancing manipulator according to claim 5, characterized in that: the pneumatic mechanism (9) is installed on a mounting plate, and the mounting plate is fixedly connected with the connecting shaft (4).

Images