CN209125821U - a pneumatic manipulator - Google Patents

Abstract

The utility model discloses a pneumatic manipulator, which aims to provide a pneumatic manipulator with the advantages of simple structure, low cost, capable of rotating between several fixed angles and high accuracy in use. A connecting piece is arranged between the main body and the connecting arm to drive the collet body to rotate at a certain angle. The connecting piece includes a driving disc arranged in the connecting arm and a driven plate rotatably connected to the connecting piece and fixed coaxially with the collet body. A driving rod is extended on the driving disk, and a number of driving grooves are arranged around the center of the driven disk. The driving grooves are adapted to the driving rod. The connecting arm is also provided with a driving motor for driving the driving disk to rotate. The overall structure is relatively simple, and it is driven by an ordinary motor, and the cost is relatively simple. At the same time, during the clamping process of the manipulator, the chuck body connected by the connecting piece is not easily rotated by external force, which avoids affecting the accuracy of the use of the manipulator. .

Description

a pneumatic manipulator

technical field

The utility model relates to the field of manipulators, in particular to a pneumatic manipulator.

Background technique

A manipulator is an automatic operation device that can imitate certain action functions of human hands and arms to grab, carry objects or operate tools according to a fixed program. The feature is that it can be programmed to complete a variety of expected operations, and the structure and performance have the advantages of both human and robotic machines.

The manipulator is the earliest industrial robot and the earliest modern robot. It can replace the heavy labor of humans to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, Electronics, light industry and atomic energy sectors.

The manipulator is mainly composed of three parts: the actuator, the drive mechanism and the control system. The hand is the part used to grasp the workpiece (or tool). According to the shape, size, weight, material and operation requirements of the object to be grasped, there are various structural forms, such as clamping type, holding type and adsorption type, etc. . The movement mechanism enables the hand to complete various rotations (swings), movement or compound movements to achieve prescribed actions and change the position and posture of the object being grasped.

The independent movement methods such as lifting, telescopic, and rotating of the motion mechanism are called the degrees of freedom of the manipulator. In order to grasp objects at any position and orientation in space, 6 degrees of freedom are required. The degree of freedom is a key parameter in manipulator design. The more degrees of freedom, the greater the flexibility of the manipulator, the wider the versatility, and the more complex its structure.

Generally, the special manipulator has 2 to 3 degrees of freedom. The control system completes specific actions by controlling the motors of each degree of freedom of the manipulator. At the same time, the feedback information from the sensor is received to form a stable closed-loop control. The core of the control system is usually composed of micro-control chips such as single-chip microcomputer or dsp, and the desired functions are realized by programming it.

At present, the Chinese Patent Publication No. CN207288692U discloses a pneumatic manipulator for clamping stamping parts, which includes a clamp seat, a guide block, a screw rod, a nut, a clamp hand, a connecting rod, a piston, a cylinder, a clamp seat, a guide block, a clamp The hand is on the same level, the clamp seat is welded with the guide block, the screw rod penetrates the guide block and the clamp hand, the screw rod is in clearance fit with the guide block and the clamp hand, the two ends of the screw rod are engaged with the nut, and the clamp hand is movably connected with one end of the piston through the connecting rod. The other end of the piston is set inside the cylinder, the piston is movably connected with the cylinder, the cylinder and the clamping seat are welded together, the guide block is composed of a main body, a guide groove and a through hole. The end is provided with a through hole, the guide groove is in clearance fit with the gripper, the gripper is provided with a perforation, the diameter of the perforation and the through hole are the same and are concentric circles.

Although this kind of pneumatic manipulator for clamping the stamping parts is matched with the gripper through the gap between the guide grooves, which greatly improves the opening range of the gripper, expands the scope of use, and is more flexible in use, but the pneumatic manipulator needs to be rotated during use to change the clamping object. The angle of rotation is generally controlled by the servo motor, and the cost of using the servo motor is high, which is not conducive to the expansion of the pneumatic manipulator, and the servo motor is easily disturbed and rotated after being stressed, which affects the accuracy of the manipulator.

SUMMARY OF THE INVENTION

The purpose of the present utility model is to provide a pneumatic manipulator, which has the advantages of simple structure, low cost, capable of rotating among several fixed angles, and high use accuracy.

The above-mentioned technical purpose of the present utility model is achieved through the following technical solutions:

A pneumatic manipulator includes a connecting arm, a collet body and a plurality of clamping jaws rotatably connected to the collet body, the collet body is provided with a driving member for driving the clamping jaws to complete the clamping, the collet body and the connecting arm are connected to each other. There is a connecting piece for driving the collet body to rotate at a certain angle. The connecting piece includes a driving disc arranged in the connecting arm and a driven disc rotatably connected to the connecting piece and fixed coaxially with the collet body. A driving rod is extended, and a plurality of driving grooves are arranged around the center of the driven disk. The driving grooves are matched with the driving rod. The connecting arm is also provided with a driving motor for driving the driving disk to rotate.

By adopting the above technical solution, the driving motor drives the driving disk to rotate, the driving rod on the driving disk cooperates with the driving groove on the driven disk, and after the driving rod drives the driving groove to rotate by a certain angle, the driving rod is separated from the driving groove, so that the driven disk rotates Stop after a certain angle. Since the driven disc and the chuck body are fixed, the chuck body can also rotate at a certain angle after the driven disc rotates at a certain angle, thus completing the fixed angle rotation of the manipulator.

In this way, the overall structure of the manipulator is relatively simple, and it is driven by an ordinary motor, and the cost is relatively simple. At the same time, during the clamping process of the manipulator, the chuck body connected by the connecting piece is not easily rotated by external force, which avoids affecting the use of the manipulator. The accuracy improves the use effect of the manipulator.

Further arrangement: the driving disc includes a circular rotating part, and the driven disc is provided with a driven groove which is arranged between the adjacent driving grooves to fit the rotating part, and the driven groove is in the shape of a concave arc.

Further setting: the driven disc is connected to the connecting arm through the rotating shaft, and the rotating shaft and the connecting arm are in an interference fit.

By adopting the above technical solution, the interference fit between the rotating shaft and the connecting arm can increase the friction between the rotating shaft and the connecting arm, so as to prevent the driven disc on the rotating shaft from rotating under the action of external force, which affects the operation accuracy. The matching can facilitate the rotation of the drive disc and facilitate the drive disc to control the rotating chuck body.

It is further provided that the driving member includes a driving cylinder fixed on the chuck body, a connecting bar is fixed on the output shaft of the driving cylinder, and the connecting bar is slidably connected in the chuck body.

Further arrangement: one end of the clamping jaw is rotatably connected in the chuck body through a hinge shaft, and two clamping jaws with the same shape are symmetrically arranged in the chuck body.

Further arrangement: one end of the clamping jaw located in the chuck body is provided with a hinge rod, one end of the hinge rod is rotatably connected to the clamping jaw, and the other end is rotatably connected to the end of the connecting plate.

By adopting the above technical solution, the output shaft of the driving cylinder drives the connecting plate to move, and the hinge rod on the connecting plate links the clamping jaws on both sides, so that the clamping jaws rotate in opposite directions around the hinge shaft, so that the clamping jaws move toward the clamping head. The middle of the body rotates synchronously to complete the clamping of the workpiece by the clamping jaws.

Further setting: a number of chuck fingertips are arranged on the gripper jaws, and the gripper fingertips are provided with anti-slip lines for increasing friction.

By adopting the above technical solution, the fingertips of the chuck can increase the pressure on the workpiece, thereby improving the firmness of the clamping, and at the same time, the anti-slip texture can prevent the workpiece from falling, and achieve a better clamping effect.

To sum up, the utility model has the following beneficial effects:

The overall structure of the manipulator is relatively simple, and it is driven by an ordinary motor, and the cost is relatively simple. At the same time, during the clamping process of the manipulator, the chuck body connected by the connector is not easily rotated by external force, which avoids affecting the accuracy of the use of the manipulator. degree, which improves the use effect of the manipulator.

Description of drawings

The present utility model will be further described below in conjunction with the accompanying drawings.

Fig. 1 is the structural representation of embodiment 1;

Fig. 2 is the structural representation of clamping jaw in embodiment 1;

3 is a structural diagram of a connector in Embodiment 1;

Figure 4 is a schematic diagram of the overall structure of an industrial robot handling manipulator;

Fig. 5 is the structural enlarged schematic diagram at B in Fig. 4;

Figure 6 is a schematic structural diagram of an industrial robot handling manipulator for displaying a chute slider;

FIG. 7 is an enlarged schematic view of the structure at C in FIG. 6 .

In the figure, 1, connecting arm; 11, chuck body; 12, gripper jaw; 13, chuck fingertip; 131, anti-skid pattern; 2, driving part; 21, driving cylinder; 22, connecting bar; 23, hinge rod ; 24, hinge shaft; 3, connecting piece; 31, driving disc; 311, rotating part; 32, driven disc; 321, driven slot; 33, drive rod; 34, drive slot; 35, drive motor; 36, Rotating shaft; 4, piston rod; 5, support plate; 6, connecting plate; 7, fine adjustment mechanism; 701, clamping block; 702, fixing plate; 703, screw hole; 704, hexagon socket head cap bolt; 705, nut; 706, bearing 707, the chute; 708, the slider; 709, the first through hole; 710, the sliding rod; 711, the block.

Detailed ways

The specific embodiments of the present utility model will be further described below with reference to the accompanying drawings.

The technical scheme adopted by the utility model is:

Embodiment 1, a pneumatic manipulator, as shown in FIG. 1, includes a connecting arm 1 connected to the equipment, the connecting arm 1 is provided with a collet body 11, and the connecting arm 1 and the collet body 11 are connected by a connecting piece. 3 connections. The collet body 11 and the connecting arm 1 can rotate at a certain angle through the connecting piece 3 . A plurality of clamping jaws 12 are connected to the end of the chuck body 11 , and the clamping jaws 12 are rotatably connected to the chuck body 11 . The chuck body 11 is also provided with a driving member 2 for driving the clamping jaws 12 to complete the clamping work.

As shown in FIG. 1 and FIG. 2 , the driving member 2 includes a driving cylinder 21 fixed on the chuck body 11 , a connecting bar 22 is fixed on the output shaft of the driving cylinder 21 , and the connecting bar 22 is slidably connected in the chuck body 11 . One end of the clamping jaw 12 is rotatably connected in the clamping head body 11 through the hinge shaft 24 , and two clamping jaws 12 with the same shape are symmetrically arranged in the clamping head body 11 .

As shown in FIGS. 1 and 2 , one end of the clamping jaw 12 located in the chuck body 11 is provided with a hinge rod 23 . The clamping jaws 12 are provided with a plurality of clamp fingertips 13, and the clamp fingertips 13 are provided with anti-slip textures 131 for increasing friction. The output shaft of the driving cylinder 21 drives the connecting bar 22 to move, and the hinge rod 23 on the connecting bar 22 is linked with the clamping jaws 12 on both sides, so that the clamping jaws 12 rotate in opposite directions around the hinge shaft 24, so that the clamping jaws 12 move in the opposite direction. The chuck body 11 rotates synchronously in the middle, thereby completing the clamping of the workpiece by the clamping jaws 12 .

As shown in FIGS. 1 and 3 , a connecting piece 3 for driving the collet body 11 to rotate at a certain angle is provided between the collet body 11 and the connecting arm 1 . The driven disc 32 is rotatably connected to the connector 3 and fixed coaxially with the chuck body 11. A driving rod 33 is extended on the driving disc 31. The slot 34 is adapted to the driving rod 33 , and the connecting arm 1 is also provided with a driving motor 35 for driving the driving disc 31 to rotate.

As shown in FIG. 1 and FIG. 3 , the driving disk 31 includes a circular rotating part 311 , and the driven disk 32 is provided with a driven groove 321 between the adjacent driving grooves 34 to fit the rotating part 311 . The driven groove 321 is in the shape of a concave arc. The driven plate 32 is rotatably connected to the connecting arm 1 through the rotating shaft 36 , and the rotating shaft 36 and the connecting arm 1 are in an interference fit.

The driving motor 35 drives the driving disc 31 to rotate, and the driving rod 33 on the driving disc 31 cooperates with the driving groove 34 on the driven disc 32. After the driving rod 33 drives the driving groove 34 to rotate by a certain angle, the driving rod 33 is separated from the driving groove 34, and so on The driven disc 32 stops after rotating at a certain angle. Since the driven disc 32 is fixed to the chuck body 11 , the chuck body 11 can also rotate at a certain angle after the driven disc 32 rotates at a certain angle, thereby completing the fixed angle rotation of the manipulator.

As shown in Figure 1 and Figure 2, it includes the manipulator connecting plate, the top of the manipulator connecting plate is connected to the manipulator, the bottom of the manipulator connecting plate is fixedly installed with a cylinder mounting plate, and the bottom of the cylinder mounting plate is fixedly installed with a wide finger cylinder along the horizontal direction , the model of the wide finger cylinder is MHL2. In this embodiment, three wide finger cylinders parallel to each other are arranged to increase the structural stability. The two ends of the wide finger cylinder are provided with piston rods 4, and the piston rods 4 are far away from the wide type. One end of the finger cylinder is fixedly installed with a support plate 5 perpendicular to the piston rod 4 , and a connecting plate 6 is fixedly installed on the side of the support plate 5 away from the piston rod 4 , and the connecting plate 6 and the support plate 5 are perpendicular to each other.

As shown in Figure 2, Figure 4 and Figure 5, the bottom of the connecting plate 6 is provided with a number of grooves 9 parallel to each other, the grooves 9 are perpendicular to the piston rod 4, the spacing between adjacent grooves 9 is equal, and the grooves 9 Several second through holes 11 are provided therein, and the second through holes 11 penetrate through the connecting plate 6 .

As shown in FIGS. 3 and 6 , the bottom of the connecting plate 6 is provided with a fine-tuning mechanism 7 , and the fine-tuning mechanism 7 includes a block 701 located in the two grooves 9 , and the top of the block 701 is provided with a matching second through hole 11 The inner threaded hole 10, the connecting plate 6 is provided with a bolt 12 matching the inner threaded hole 10, the bolt 12 penetrates the second through hole 11 and is connected to the inner threaded hole 10, so that the connection plate 6 and the clamping block 701 can be connected. Disassembled, the bottom of the clamping block 701 is fixedly installed with an L-shaped fixing plate 702, the side of the fixing plate 702 is provided with a screw hole 703, the screw hole 703 is located in the middle of the fixing plate 702, and the side of the fixing plate 702 away from the piston rod 4 is provided with an inner hexagon bolt 704 , the inner hexagon bolt 704 and the piston rod 4 are parallel to each other, the inner hexagon bolt 704 is connected with the nut 705 through the fixing plate 702, the nut 705 is located on both sides of the fixing plate 702, the nut 705 can fix the fixing plate 702 and the inner hexagon bolt 704, the inner hexagon One end of the bolt 704 close to the piston rod 4 is provided with a plate-shaped hand grip 8 , and the side of the hand grip 8 close to the inner hexagon bolt 704 is provided with a bearing 706 .

As shown in FIG. 7 , a slider 708 is provided on the top of the hand grip 8 , a chute 707 is provided on the side of the fixing plate 702 close to the hand grip 8 , the slider 708 is slidably connected with the chute 707 , and the fixing plate 702 is provided with a number of first A through hole 709, the first through hole 709 is provided with a sliding rod 710, the sliding rod 710 is slidably connected with the fixing plate 702, the end of the sliding rod 710 away from the fixing plate 702 is fixedly connected with the hand grip 8, the length of the sliding rod 710 is related to the inner The hexagonal bolts 704 are equal, and the end of the sliding rod 710 away from the hand grip 8 is provided with a stopper 711 .

As shown in Figure 1, the side of the hand grip 8 close to the piston rod 4 is fixedly installed with a non-slip pad 13, the bottom of the hand grip 8 is disassembled and connected with a baffle 15 through screws 14, the baffle 15 and the hand grip 8 are perpendicular to each other, and the industrial robot transports The whole manipulator is a mirror structure with the cylinder as the mirror surface.

Its main working principle is: the wide finger cylinder moves, the piston rods 4 at both ends of the wide finger cylinder extend together, and the piston rod 4 drives the support plates 5 at both ends of the cylinder to move away from each other, thereby driving the connecting plate 6, the fixing plate 702 and the hand gripper. 8 are far away from each other. When the wide finger cylinder moves to the maximum stroke, the distance between the two grips 8 is also separated to the maximum distance. The robotic arm 16 drives the industrial robot handling manipulator to move to the position where the control cabinet is placed; the wide finger cylinder moves , the piston rod 4 shrinks together, and the piston rod 4 drives the support plates 5 at both ends of the cylinder to approach each other, thereby driving the connecting plate 6, the fixing plate 702 and the hand grip 8 to approach each other. When the wide finger cylinder is displaced to the minimum stroke, the two hands grip The distance between 8 is also close to the minimum distance, so as to clamp the control cabinet, and then use the mechanical arm 16 to drive the industrial robot handling manipulator to carry the control cabinet; the user can adjust the maximum distance between the hand grips 8 according to the size of the control cabinet. , the minimum distance, install the block 701 of the fine adjustment mechanism 7 into the appropriate groove 9, rotate the hexagon socket head bolt 704, drive the hand 8 to move toward or away from the fixing plate 702, and simultaneously grasp the slider on the top of the 8 708 slides in the sliding groove 707, and the sliding rod 710 slides in the first through hole 709 of the fixing plate 702, so as to realize the fine adjustment of the distance between the two hands.

The above are only the preferred embodiments of the present utility model, and are not intended to limit the present utility model in any form. Any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present utility model belong to the utility model. within the scope of new technical solutions.

Claims (9)

1. a kind of Pneumatic manipulator, including linking arm (1), Gripper body (11) and several be rotatably connected on Gripper body (11) On clamping jaw (12), it is characterised in that: the Gripper body (11) be equipped with for drive clamping jaw (12) complete clamping driving Part (2) is equipped with the connector to drive Gripper body (11) to determine angle rotation between Gripper body (11) and linking arm (1) (3), connector (3) include the driving disc spacing pressing (31) in linking arm (1) and be rotatably connected on connector (3) and with collet sheet The driven disc (32) of body (11) concentric fixation is extended with drive rod (33) on driving disc spacing pressing (31), around it on driven disc (32) Center is equipped with several driver slots (34), and driver slot (34) is adapted to drive rod (33), is additionally provided in linking arm (1) for driving The driving motor (35) of driving disc spacing pressing (31) rotation, linking arm (1) bottom is fixedly installed with cylinder mounting plate, the cylinder mounting plate Bottom is fixedly installed with wealthy type finger cylinder in the horizontal direction, and the wealthy type finger cylinder both ends are equipped with piston rod (4), the work Stopper rod (4) is fixedly installed with the supporting plate (5) perpendicular to piston rod (4) far from one end of wealthy type finger cylinder, and the supporting plate (5) is remote From being fixedly installed on one side connecting plate (6) for piston rod (4), connecting plate (6) bottom is connected with plate by micro-adjusting mechanism (7) The hand of shape is grabbed (8), and the hand grabs (8) and is parallel to each other with supporting plate (5).

2. a kind of Pneumatic manipulator according to claim 1, it is characterised in that: the driving disc spacing pressing (31) includes circular rotation Transfer part (311) is equipped with the driven slot of fitting rotating part (311) setting on driven disc (32) between adjacent driven slot (34) (321), driven slot (321) is in the circular shape of indent.

3. a kind of Pneumatic manipulator according to claim 2, it is characterised in that: the driven disc (32) passes through shaft (36) It is rotatably connected on linking arm (1), is interference fitted between shaft (36) and linking arm (1).

4. a kind of Pneumatic manipulator according to claim 1, it is characterised in that: the actuator (2) includes being fixed on folder Driving cylinder (21) on head ontology (11) drives and is fixed with connection strap (22) on the output shaft of cylinder (21), connection strap (22) It is slidably connected in Gripper body (11).

5. a kind of Pneumatic manipulator according to claim 4, it is characterised in that: described clamping jaw (12) one end passes through articulated shaft (24) it is rotatably connected in Gripper body (11), arranged symmetrically in Gripper body (11) there are two the identical clamping jaws of shape (12).

6. a kind of Pneumatic manipulator according to claim 5, it is characterised in that: the clamping jaw (12) is located at Gripper body (11) one end in is equipped with hinge bar (23), and hinge bar (23) one end is rotatably connected on clamping jaw (12), other end rotation connection In connection strap (22) end.

7. a kind of Pneumatic manipulator according to claim 1, it is characterised in that: the clamping jaw (12) is equipped with several folders Head finger tip (13), collet finger tip (13) are equipped with the non-slip texture (131) for increasing friction.

8. a kind of Pneumatic manipulator according to claim 1, it is characterised in that: micro-adjusting mechanism (7) includes being located at connecting plate (6) fixture block (701) of bottom, fixture block (701) bottom are fixedly installed with L-shaped fixed plate (702), the fixed plate (702) Side is equipped with screw hole (703), and the fixed plate (702) is equipped with hexagon socket head cap screw (704) far from the side of piston rod (4), described Hexagon socket head cap screw (704) is connected with nut (705) through fixed plate (702), and the hexagon socket head cap screw (704) is close to piston rod (4) one end is equipped with hand and grabs (8), and the hand grabs the one side of (8) close to hexagon socket head cap screw (704) and is equipped with bearing (706), described interior Hex bolts (704) grabs (8) rotation connection by bearing (706) and hand.

9. a kind of Pneumatic manipulator according to claim 8, it is characterised in that: the fixed plate (702) grabs (8) close to hand One side be equipped with sliding slot (707), the hand grabs and is equipped with sliding block (708) at the top of (8), and the sliding block (708) and sliding slot (707) are slided Connection, the fixed plate (702) are equipped with first through hole (709), are equipped with slide bar (710) in the first through hole (709), described (8) are grabbed with hand and are fixedly connected in slide bar (710) one end.