CN105299301B - A kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm - Google Patents
A kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm Download PDFInfo
- Publication number
- CN105299301B CN105299301B CN201510753217.4A CN201510753217A CN105299301B CN 105299301 B CN105299301 B CN 105299301B CN 201510753217 A CN201510753217 A CN 201510753217A CN 105299301 B CN105299301 B CN 105299301B
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- hand
- mixing valve
- grab
- cylinder
- water mixing
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 96
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 238000011084 recovery Methods 0.000 claims description 2
- 210000000078 claw Anatomy 0.000 abstract 1
- 238000005457 optimization Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/12—Actuating devices; Operating means; Releasing devices actuated by fluid
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K31/00—Actuating devices; Operating means; Releasing devices
- F16K31/44—Mechanical actuating means
- F16K31/46—Mechanical actuating means for remote operation
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multiple-Way Valves (AREA)
Abstract
The invention discloses a kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm, including connecting seat, cylinder, hand grab support and multiple hands are grabbed.Connecting seat is connected with mechanical arm, and one end of cylinder is fixedly connected with connecting seat, and the other end of cylinder grabs support provided with multiple hands, is grabbed per support is grabbed on the other hand provided with a hand.Cylinder driving hand grabs the reciprocating motion of support left rotation and right rotation.The present invention has advantages below compared with prior art：A kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm of the present invention, have and realize that mixed valve for water heater hot and cold water automatically adjusts, the distance between claw is can adjust, the advantages that suitable for different water mixing valve types.
Description
Technical field
The present invention relates to a kind of end effector of mechanical arm more particularly to a kind of adjustable type based on mechanical arm to mix
Water valve hot and cold water adjusting actuator.
Background technology
At present, it is necessary to mixed water by manpower left rotation and right rotation water heater in the switch service life test job of water heater
Valve gear, and constantly repeat to move back and forth, test job repeats, and cumbersome uninteresting, testing efficiency is low.For this problem, it is based on
Mechanical arm, it would be highly desirable to develop a kind of adjustable type water mixing valve hot and cold water adjusting actuator.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of adjustable type water mixing valve based on mechanical arm
Hot and cold water adjusting actuator, simulation manually realize left rotation and right rotation water mixing valve, realize the automatic left rotation and right rotation of mixed valve for water heater with
Move back and forth.
The present invention is achieved by the following technical solutions：A kind of adjustable type water mixing valve hot and cold water regulation based on mechanical arm
Actuator, including connecting seat, cylinder, hand grab support and multiple hands are grabbed, the connecting seat is connected with mechanical arm, and mechanical arm drives
The connecting seat left rotation and right rotation；One end of the cylinder is fixedly connected with connecting seat, and the other end of the cylinder is provided with multiple
Hand grabs support, is grabbed per support is grabbed on the other hand provided with a hand, and the cylinder drives the hand to grab support front-rear reciprocation movement.
As the further optimization of such scheme, the other end of the cylinder grabs support provided with three hands, described in three
Hand grab be correspondingly provided with support it is first-hand grab, second-hand grabs and grabbed with the 3rd hand.
As the further optimization of such scheme, the hand, which grabs support, includes cylinder connecting portion and rack body, the branch
Frame body is door shaped stent, and the lower end of the rack body is fixed by an end face of cylinder connecting portion and the cylinder to be connected
Connect；The upper end of the rack body is provided with a bayonet socket, and the hand is grabbed in bayonet socket, and is bolted.
As the further optimization of such scheme, the hand, which is grabbed, is provided with rubber sleeve.
As the further optimization of such scheme, it is described it is first-hand grab, second-hand grabs to grab with the 3rd hand and is equipped with waist hole,
Bolt slides in corresponding waist hole, corresponding positioning it is described it is first-hand grab, second-hand grabs the relative position grabbed with the 3rd hand.
As the further optimization of such scheme, first-hand grab grabs corresponding matching clamping hexagon thing with the 3rd hand
Body, the second-hand grab with the 3rd hand grab corresponding matching clamping strip object, it is described it is first-hand grab, second-hand grabs corresponding matching
Clamp cylindrical object.
Compared with prior art, a kind of adjustable type water mixing valve hot and cold water based on mechanical arm provided by the invention is adjusted the present invention
Actuator has the beneficial effect that：
1st, the present invention provides a kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm, and cylinder driving hand is grabbed
Support front-rear reciprocation movement, mechanical arm drive connection seat left rotation and right rotation band start to grab the fixed mixed valve for water heater left rotation and right rotation of cooperation
Move back and forth, realize that mixed valve for water heater hot and cold water automatically adjusts.
2nd, the present invention provides a kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm, and hand is grabbed grabs located at hand
In the bayonet socket of support, hand, which is grabbed, is provided with waist hole, and bolt slides in waist hole, and fixed hand grabs the relative position that support is grabbed with hand, even
Joint chair is connected with mechanical arm, and mechanical arm brachium can adjust, and so as to the water mixing valve suitable for different model, clamps water mixing valve, left and right
Rotary reciprocating motion, realize that mixed valve for water heater hot and cold water automatically adjusts.
Brief description of the drawings
Fig. 1 is a kind of structural representation of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm of the present invention
Figure.
Fig. 2 is the first-hand structural representation grabbed in Fig. 1.
Fig. 3 is the structural representation that the second-hand in Fig. 1 grabs.
Fig. 4 is the structural representation that the 3rd hand in Fig. 1 is grabbed.
Fig. 5 is that the first-hand support assorted of grabbing in Fig. 1 positions the first-hand structural representation grabbed.
Fig. 6 is a kind of mixed water of adjustable type water mixing valve hot and cold water adjusting actuator clamping based on mechanical arm using the present invention
The use state diagram of valve regulation head.
In figure：Connecting seat 1, cylinder 2, hand grab support 3, it is first-hand grab 4, second-hand and grab the 5, the 3rd hand grab 6, cylinder connecting portion
31st, rack body 32, waist hole 41, water mixing valve regulation first 7.
Embodiment
Embodiments of the invention are elaborated below, the present embodiment is carried out lower premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following implementation
Example.
A kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm, including connecting seat 1, the hand of cylinder 2 grab branch
Frame 3 and multiple hands are grabbed.Connecting seat 1 is connected with mechanical arm, and the left rotation and right rotation of mechanical arm drive connection seat 1.One end of cylinder 2 and company
Joint chair 1 is fixedly connected, and the other end of cylinder grabs support 3 provided with multiple hands, is grabbed per support 3 is grabbed on the other hand provided with a hand, gas
Cylinder 2 drives the hand to grab the reciprocating motion of the left rotation and right rotation of support 3.Referring to Fig. 1, Fig. 1 be the present invention it is a kind of based on mechanical arm can
The structural representation of tune type water mixing valve hot and cold water adjusting actuator.In this preferred embodiment, the other end of cylinder 2 is provided with three
Hand grabs support 3, three hands grab be correspondingly provided with support 3 it is first-hand grab 4, second-hand grab 5 and the 3rd hand grab 6.
Wherein, hand, which grabs support 3, includes cylinder connecting portion 31 and rack body 32.Referring to Fig. 5, Fig. 5 is that the hand in Fig. 1 grabs branch
Frame coordinates the structural representation that positioning hand is grabbed.Rack body 32 is U-shaped support, and the lower end of rack body passes through cylinder connecting portion 31
It is fixedly connected with an end face of cylinder, cylinder connecting portion 31 is secured by bolts on the lower surface of rack body, support master
The upper end of body is provided with a bayonet socket 33, and hand is grabbed in bayonet socket 33, and is bolted.It is wherein first-hand to grab 4, second-hand and grab
5th, the 3rd hand grabs 6 and is equipped with waist hole 41, and bolt slides in corresponding waist hole 41, is adjusted by waist hole and first-hand grab 4, second-hand and grab
5th, the 3rd hand grab 6 with hand grab the relative position of support 3, adjusted hand grab with hand grab between distance.So as to be applied to different shaped
Number water mixing valve, clamp water mixing valve, by cylinder control hand grab front-rear reciprocation movement；Connecting seat left-right rotary is controlled by mechanical arm
Turn, band starts to grab left rotation and right rotation reciprocating motion, realizes that mixed valve for water heater hot and cold water automatically adjusts.
A kind of operation principle of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm of the present invention is：According to
3 hands are grabbed support respectively and are adjusted by the differences such as the specification of water mixing valve, pattern, it is met what is clamped to water mixing valve
Demand.In this preferred embodiment, it is first-hand grab 4 and the 3rd hand grab 6 corresponding matchings clamping hexagon object, second-hand grabs 5 and the
Three hands grab 6 corresponding matchings clamping strip object, it is first-hand grab 4, second-hand grab 5 and the 3rd hand grab 6 corresponding matchings clamping cylinder
Shape object.Referring to Fig. 2-Fig. 4, Fig. 2 is the first-hand structural representation grabbed in Fig. 1.Fig. 3 is that the structure that second-hand grabs in Fig. 1 is shown
It is intended to.Fig. 4 is the structural representation that the 3rd hand is grabbed in Fig. 1.
Referring to Fig. 6, Fig. 6 is a kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm using the present invention
Clamp the use state diagram of water mixing valve regulation head.In this application, water mixing valve regulation first 7 is string configuration.Use this hair
A kind of bright adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm, regulating mixed water valve adjust the course of work of head
It is：According to the specification of water mixing valve, choose second-hand grab 5 and the 3rd hand grab 6, adjust between the second paw 5 and the 3rd paw 6
Distance, make second-hand grab 5 and the 3rd hand grab 6 clamping water mixing valves regulation first 7, meet paw to water mixing valve adjust head clamping need
Ask.In company with robot motion, cylinder make second-hand grab 5 and the 3rd hand grab on 6 governor motions for acting on water mixing valve realize folder
Tightly, water mixing valve is made back and forth to be tested according to the track left rotation and right rotation planned, after completing water mixing valve flow path track, cylinder is again
Secondary action, discharge water mixing valve, mechanical arm recovery.
For the water mixing valve of different patterns, such as circular water mixing valve, hexagon water mixing valve, the different pattern water mixing valve present invention
A kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm it is first-hand grab 4, second-hand grab 5 and the 3rd hand grab
6 collective effects, best mode can be played and clamp the pattern water mixing valve, operating process is consistent with examples detailed above process.The present invention
A kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm can meet the cold-hot water mixing valves of a variety of patterns
Regulation.
In addition, a kind of hand of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm of the present invention is grabbed and is provided with
Rubber sleeve, for protecting water mixing valve.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Claims (4)
- A kind of 1. adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm, it is characterised in that：Including connecting seat (1), Cylinder (2), hand grab support (3) and multiple hands are grabbed, and the connecting seat (1) is connected with mechanical arm, and mechanical arm drives the connection Seat (1) left rotation and right rotation；One end of the cylinder (2) is fixedly connected with connecting seat (1), and the other end of the cylinder (2) is provided with Multiple hands grab support (3), are grabbed per support (3) is grabbed on the other hand provided with a hand, and the cylinder (2) drives the hand to grab support (3) Front-rear reciprocation movement；The other end of the cylinder (2) grabs support (3) provided with three hands, and three hands grab support (3) on pair Should be provided with it is first-hand grab (4), second-hand grabs (5) and the 3rd hand is grabbed (6)；The hand, which grabs support (3), includes cylinder connecting portion (31) With rack body (32), the rack body (32) is U-shaped support, and the lower end of the rack body passes through cylinder connecting portion and institute An end face for stating cylinder is fixedly connected；The upper end of the rack body is provided with a bayonet socket, and the hand is grabbed in bayonet socket, and It is bolted；Choose second-hand to grab and grabs with the 3rd hand, adjust the distance between the second paw and the 3rd paw, second-hand is grabbed (5) and the Three hands, which are grabbed, clamps water mixing valve regulation head, meets the needs of paw adjusts head clamping to water mixing valve；In company with the motion of robot, cylinder Grab second-hand and clamping is realized on the governor motion grabbed with the 3rd hand and act on water mixing valve, make water mixing valve according to the track planned Left rotation and right rotation is back and forth tested, and after completing water mixing valve flow path track, cylinder acts again, discharges water mixing valve, mechanical arm recovery.
- 2. a kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm according to claim 1, its feature It is：The hand, which is grabbed, is provided with rubber sleeve.
- 3. a kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm according to claim 1, its feature It is：It is described it is first-hand grab (4), second-hand grabs (5) and the 3rd hand is grabbed and waist hole (41) is equipped with (6), bolt is in corresponding waist hole Middle slip, corresponding positioning it is described it is first-hand grab (4), second-hand grabs (5) and the 3rd hand grabs the relative position of (6).
- 4. a kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm according to claim 1, its feature It is：It is described it is first-hand grab (4) and the 3rd hand grabs (6) corresponding matching clamping hexagon object, the second-hand grabs (5) and the 3rd Hand grab (6) corresponding matching clamping strip object, it is described it is first-hand grab (4), second-hand grab (5) corresponding matching clamping cylinder thing Body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510753217.4A CN105299301B (en) | 2015-11-06 | 2015-11-06 | A kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510753217.4A CN105299301B (en) | 2015-11-06 | 2015-11-06 | A kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105299301A CN105299301A (en) | 2016-02-03 |
| CN105299301B true CN105299301B (en) | 2017-12-01 |
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|---|---|---|---|
| CN201510753217.4A Active CN105299301B (en) | 2015-11-06 | 2015-11-06 | A kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107433583A (en) * | 2017-08-17 | 2017-12-05 | 柳州福能机器人开发有限公司 | Pinpoint mechanical arm |
| CN107414796A (en) * | 2017-08-17 | 2017-12-01 | 柳州福能机器人开发有限公司 | Industrial machine arm |
| CN107443361A (en) * | 2017-08-17 | 2017-12-08 | 柳州福能机器人开发有限公司 | Multivariant mechanical arm |
| CN110822154A (en) * | 2019-11-18 | 2020-02-21 | 上海海洋大学 | A water mixing valve adjustment device based on worm gear reduction |
| CN113251203A (en) * | 2021-06-03 | 2021-08-13 | 哈工军立方机器人科技(北京)有限公司 | Portable quick valve-closing material-cutting device and control method |
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| DE10160085A1 (en) * | 2001-12-07 | 2003-06-26 | Steag Hamatech Ag | Handling facility for substrates with an inner hole has a carrying unit and an inner hole gripper on the carrying unit. |
| CN103121214A (en) * | 2013-02-05 | 2013-05-29 | 昆山艾博机器人系统工程有限公司 | Mechanical arm clamping jaw |
| CN103507077A (en) * | 2013-09-18 | 2014-01-15 | 中国电器科学研究院有限公司 | Robot hand claw used for feeding and discharging for household appliance compressor |
| CN203471784U (en) * | 2013-08-15 | 2014-03-12 | 浙江安统汽车部件有限公司 | Plate grabbing mechanical arm |
| CN203557396U (en) * | 2013-09-18 | 2014-04-23 | 中国电器科学研究院有限公司 | Mechanical paw |
| CN103978493A (en) * | 2014-05-13 | 2014-08-13 | 健雄职业技术学院 | Self-centering mechanical arm |
| CN205078894U (en) * | 2015-11-06 | 2016-03-09 | 安徽中家智锐科技有限公司 | Adjustable type mixes water valve hot and cold water and adjusts executor based on arm |
-
2015
- 2015-11-06 CN CN201510753217.4A patent/CN105299301B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10160085A1 (en) * | 2001-12-07 | 2003-06-26 | Steag Hamatech Ag | Handling facility for substrates with an inner hole has a carrying unit and an inner hole gripper on the carrying unit. |
| CN103121214A (en) * | 2013-02-05 | 2013-05-29 | 昆山艾博机器人系统工程有限公司 | Mechanical arm clamping jaw |
| CN203471784U (en) * | 2013-08-15 | 2014-03-12 | 浙江安统汽车部件有限公司 | Plate grabbing mechanical arm |
| CN103507077A (en) * | 2013-09-18 | 2014-01-15 | 中国电器科学研究院有限公司 | Robot hand claw used for feeding and discharging for household appliance compressor |
| CN203557396U (en) * | 2013-09-18 | 2014-04-23 | 中国电器科学研究院有限公司 | Mechanical paw |
| CN103978493A (en) * | 2014-05-13 | 2014-08-13 | 健雄职业技术学院 | Self-centering mechanical arm |
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| CN105299301A (en) | 2016-02-03 |
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