CN111906810A - Two-division pneumatic three-jaw manipulator of industrial robot - Google Patents
Two-division pneumatic three-jaw manipulator of industrial robot Download PDFInfo
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- CN111906810A CN111906810A CN202010851971.2A CN202010851971A CN111906810A CN 111906810 A CN111906810 A CN 111906810A CN 202010851971 A CN202010851971 A CN 202010851971A CN 111906810 A CN111906810 A CN 111906810A
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- end cover
- clamping type
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- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000009776 industrial production Methods 0.000 abstract description 2
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 210000000078 claw Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a bipartition pneumatic three-jaw manipulator of an industrial robot, which does not need to be replaced, saves time and labor for replacing the manipulator, connects 2 pneumatic three-jaws with different specifications with a rotary robot through a quick-change device, simultaneously combines the functions of the 2 pneumatic three-jaws with different specifications, can finish the processes of grabbing, placing and the like of workpieces, truly reproduces the actual industrial production process, greatly meets the requirements of a flexible production system, is beneficial to promoting enterprises to continuously process and produce new varieties, better adapts to the requirements of market competition, has the characteristics of reasonable structure, convenient control and lower cost, has multiple functions, flexible control, repeated programming, multi-degree-of-freedom motion, stability and reliability, is mainly suitable for plane positioning, assembly operation in the vertical direction and can be widely popularized and applied.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a two-part type pneumatic three-jaw manipulator of an industrial robot.
Background
Industrial robots are more widely used due to the increasing level of productivity and the increasing progress of science and technology, and are developing in the direction of high speed, high precision, light weight, heavy load, high flexibility and high reliability. The manipulator can replace the mankind to accomplish repeated, boring, dangerous work, alleviates people intensity of labour, improves work efficiency to the manipulator obtains more and more extensive application, but single manipulator function singleness needs the manual manipulator of changing at the industrial robot task of accomplishing complicacy, wastes time and energy, has increased equipment failure rate.
Disclosure of Invention
According to the technical problem, the invention provides a two-part pneumatic three-jaw manipulator of an industrial robot, which is characterized by comprising a quick-change device, an inner clamping type manipulator and an outer clamping type manipulator, wherein the left side and the right side of the bottom end of the quick-change device are respectively connected with the outer clamping type manipulator and the inner clamping type manipulator; the quick-change device is connected to the tail end of the rotary robot; an included angle of 30 degrees is formed between the inner clamping type mechanical arm and the rotary robot along the Z axis, and an included angle of-30 degrees is formed between the outer clamping type mechanical arm and the rotary robot along the Z axis;
the quick-change device comprises a disc, a disc cylinder, a quick-change interface, a gas receiving pipe A, a gas receiving pipe B, a magnetic alignment device, a bottom block, a connecting block A and a connecting block B, wherein the bottom end of the disc is connected with the bottom block through the disc cylinder;
the inner clamping type manipulator comprises an end cover B, an air receiving hole C, an air cylinder B and an inner clamping type pneumatic paw, wherein the end cover B is connected with a connecting block B, the air cylinder B is installed at the bottom end of the end cover B, the air receiving hole C is formed in the end cover B and is connected with an air receiving pipe A through a hose, and the inner clamping type pneumatic paw is installed at the bottom end of the air cylinder B;
the externally-clamped manipulator comprises an end cover A, an air receiving hole D, an air cylinder A and an externally-clamped pneumatic paw, wherein the end cover A is connected with a connecting block A, the air cylinder A is installed at the bottom end of the end cover A, the air receiving hole D is formed in the end cover A and is connected with an air receiving pipe B through a hose, and the externally-clamped pneumatic paw is installed at the bottom end of the air cylinder A;
the number of the air receiving holes D is 3, the air receiving pipes B are evenly distributed on the left side wall of the disc, the number of the air receiving holes C is 3, the air receiving holes C are evenly distributed on the end cover B, and the number of the air receiving pipes A is 3, the air receiving holes A are evenly distributed on the right side wall of the disc;
the longitudinal section of the connecting block A in the front-back direction is of a 7-shaped structure, the top end of the connecting block A is connected with the bottom block through a bolt, the longitudinal section of the connecting block B in the front-back direction is of a 7-shaped structure, and the top end of the connecting block B is connected with the bottom block through a bolt;
the middle part of the end cover A is provided with a bolt hole A, and the externally clamped mechanical arm penetrates through the bolt hole A through a bolt to be connected with the connecting block A; a bolt hole B is formed in the middle of the upper end cover B, and the internally-clamped mechanical arm penetrates through the bolt hole B through a bolt to be connected with the connecting block B.
The invention has the beneficial effects that: the invention has the characteristics of reasonable structure, convenient control, lower cost, multifunction, flexible control, repeatable programming, multi-degree-of-freedom motion, stability and reliability, is mainly suitable for plane positioning and assembling operation in the vertical direction, and can be widely popularized and applied; the pneumatic three-jaw of 2 kinds of different specifications is connected with rotary robot through quick change device, has combined the function of the pneumatic three-jaw of 2 kinds of different specifications simultaneously, can accomplish processes such as work piece snatchs, places, truly reappears actual industrial production process, has greatly satisfied flexible production system's needs, is favorable to promoting the continuous processing production new variety of enterprise, adapts to market competition's needs better.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural view of the quick-change device of the present invention;
FIG. 3 is a schematic structural diagram of an inner clamping type manipulator of the present invention;
fig. 4 is a schematic structural diagram of the external clamping type manipulator of the invention.
As shown in the figure: 1. the automatic pneumatic manipulator comprises an inner clamping type manipulator, 2-1 quick-change device, 2-1 connecting block B, 2-2 bottom block, 2-3 disc cylinder bodies, 2-4 disc bodies, 2-5 quick-change interfaces, 2-6 magnetic alignment devices, 2-7 air receiving pipe A, 2-8 air receiving pipe B, 2-9 connecting block A, 3 outer clamping type manipulator, 3-1 inner clamping type pneumatic paw, 3-2 air receiving hole C, 3-3 end cover B, 3-4 air cylinder B, 4-1 outer clamping type pneumatic paw, 4-2 air receiving hole D, 4-3 end cover A and 4-4 air cylinder A.
Detailed Description
Example 1
The invention provides a bipartition pneumatic three-jaw manipulator of an industrial robot, which is characterized by comprising a quick change device 2, an inner clamping type manipulator 1 and an outer clamping type manipulator 3, wherein the left side and the right side of the bottom end of the quick change device 2 are respectively connected with the outer clamping type manipulator 3 and the inner clamping type manipulator 1; the quick-change device 2 is connected to the tail end of the rotary robot; an included angle of 30 degrees is formed between the inner clamping type mechanical arm 1 and the rotary robot along the Z axis, and an included angle of-30 degrees is formed between the outer clamping type mechanical arm 3 and the rotary robot along the Z axis;
the quick-change device 2 comprises a disc 2-4, a disc cylinder 2-3, a quick-change interface 2-5, a gas receiving pipe A2-7, a gas receiving pipe B2-8, a magnetic alignment device 2-6, a bottom block 2-2, a connecting block A2-9 and a connecting block B2-1, the bottom end of the disc 2-4 is connected with the bottom block 2-2 through the disc cylinder 2-3, the left end and the right end of the bottom block 2-2 are respectively provided with the connecting block A2-9 and the connecting block B2-1, the quick-change interface 2-5 is arranged in the middle of the disc 2-4, the gas receiving pipe B2-8 is arranged on the left side wall of the disc 2-4, the gas receiving pipe A2-7 is arranged on the right side wall of the disc 2-4, and the;
the inner clamping type manipulator 1 comprises an end cover B3-3, an air receiving hole C3-2, an air cylinder B3-4 and an inner clamping type pneumatic claw 3-1, wherein the end cover B3-3 is connected with a connecting block B2-1, the bottom end of the end cover B3-3 is provided with an air cylinder B3-4, the end cover B3-3 is provided with an air receiving hole C3-2, the air receiving hole C3-2 is connected with an air receiving pipe A2-7 through a hose, and the bottom end of the air cylinder B3-4 is provided with the inner clamping type pneumatic claw 3-1;
the externally-clamped manipulator 3 comprises an end cover A4-3, an air receiving hole D4-2, an air cylinder A4-4 and an externally-clamped pneumatic claw 4-1, wherein the end cover A4-3 is connected with a connecting block A2-9, the bottom end of the end cover A4-3 is provided with the air cylinder A4-4, the end cover A4-3 is provided with the air receiving hole D4-2, the air receiving hole D4-2 is connected with an air receiving pipe B2-8 through a hose, and the bottom end of the air cylinder A4-4 is provided with the externally-clamped pneumatic claw 4-1;
3 air receiving holes D4-2 are evenly distributed on the end cover A4-3 along the circumferential direction, 3 air receiving pipes B2-8 are evenly distributed on the left side wall of the disc 2-4, 3 air receiving holes C3-2 are evenly distributed on the end cover B3-3 along the circumferential direction, and 3 air receiving pipes A2-7 are evenly distributed on the right side wall of the disc 2-4;
the longitudinal section of the connecting block A2-9 in the front-back direction is of a 7-shaped structure, the top end of the connecting block A2-9 is connected with the bottom block 2-2 through a bolt, the longitudinal section of the connecting block B2-1 in the front-back direction is of a 7-shaped structure, and the top end of the connecting block B2-1 is connected with the bottom block 2-2 through a bolt;
the middle part of the end cover A4-3 is provided with a bolt hole A, and the externally clamped mechanical arm 3 penetrates through the bolt hole A through a bolt to be connected with a connecting block A2-9; the middle part of the end cover B3-3 is provided with a bolt hole B, and the inner clamping type manipulator 1 penetrates through the bolt hole B through a bolt to be connected with a connecting block B2-1.
Example 2
When the pneumatic gripper is used, the quick-change connector 2-5 of the quick-change device 2 is connected with a rotary robot, the magnetic alignment device 2-6 enables the quick-change device 2 to be aligned and connected with the rotary robot, the air cylinder A4-4 is controlled to work by controlling the on-off of the air passage of the hose connected with the air receiving pipe B2-8, the externally clamped pneumatic gripper 4-1 is further enabled to work, the air cylinder B3-4 is controlled to work by controlling the on-off of the air passage of the hose connected with the air receiving pipe A2-7, and the internally clamped pneumatic gripper 3-1 is further enabled to work.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. While the invention has been described with respect to the above embodiments, it will be understood by those skilled in the art that the invention is not limited to the above embodiments, which are described in the specification and illustrated only to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. A bipartition pneumatic three-jaw manipulator of an industrial robot is characterized by comprising a quick change device, an inner clamping type manipulator and an outer clamping type manipulator, wherein the left side and the right side of the bottom end of the quick change device are respectively connected with the outer clamping type manipulator and the inner clamping type manipulator; the quick-change device is connected to the tail end of the rotary robot; an included angle of 30 degrees is formed between the inner clamping type mechanical arm and the rotary robot along the Z axis, and an included angle of-30 degrees is formed between the outer clamping type mechanical arm and the rotary robot along the Z axis;
the quick-change device comprises a disc, a disc cylinder, a quick-change interface, a gas receiving pipe A, a gas receiving pipe B, a magnetic alignment device, a bottom block, a connecting block A and a connecting block B, wherein the bottom end of the disc is connected with the bottom block through the disc cylinder;
the inner clamping type manipulator comprises an end cover B, an air receiving hole C, an air cylinder B and an inner clamping type pneumatic paw, wherein the end cover B is connected with a connecting block B, the air cylinder B is installed at the bottom end of the end cover B, the air receiving hole C is formed in the end cover B and is connected with an air receiving pipe A through a hose, and the inner clamping type pneumatic paw is installed at the bottom end of the air cylinder B;
the outer clamping type mechanical hand comprises an end cover A, an air receiving hole D, a cylinder A and an outer clamping type pneumatic paw, wherein the end cover A is connected with a connecting block A, the cylinder A is installed at the bottom end of the end cover A, the air receiving hole D is formed in the end cover A and connected with an air receiving pipe B through a hose, and the outer clamping type pneumatic paw is installed at the bottom end of the cylinder A.
2. The bipartite pneumatic three-jaw manipulator of an industrial robot according to claim 1, wherein the air receiving holes D are 3 and evenly distributed on the end cover a in the circumferential direction, the air receiving holes B are 3 and evenly distributed on the left side wall of the disk, the air receiving holes C are 3 and evenly distributed on the end cover B in the circumferential direction, and the air receiving holes a are 3 and evenly distributed on the right side wall of the disk.
3. The bi-parting pneumatic three-jaw manipulator of the industrial robot as claimed in claim 1, wherein the longitudinal section of the connecting block a in the front-back direction is of a 7-shaped structure, the top end of the connecting block a is connected with the bottom block through a bolt, the longitudinal section of the connecting block B in the front-back direction is of a 7-shaped structure, and the top end of the connecting block B is connected with the bottom block through a bolt.
4. The bi-parting pneumatic three-jaw manipulator of the industrial robot as claimed in claim 1, wherein a bolt hole A is formed in the middle of the end cover A, and the externally-clamped manipulator is connected with the connecting block A through a bolt passing through the bolt hole A; a bolt hole B is formed in the middle of the upper end cover B, and the internally-clamped mechanical arm penetrates through the bolt hole B through a bolt to be connected with the connecting block B.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010851971.2A CN111906810A (en) | 2020-08-21 | 2020-08-21 | Two-division pneumatic three-jaw manipulator of industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010851971.2A CN111906810A (en) | 2020-08-21 | 2020-08-21 | Two-division pneumatic three-jaw manipulator of industrial robot |
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| CN111906810A true CN111906810A (en) | 2020-11-10 |
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| CN202010851971.2A Pending CN111906810A (en) | 2020-08-21 | 2020-08-21 | Two-division pneumatic three-jaw manipulator of industrial robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497191A (en) * | 2020-11-25 | 2021-03-16 | 常熟智造激光装备研究院有限公司 | Multifunctional industrial robot manipulator |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206029935U (en) * | 2016-09-07 | 2017-03-22 | 浙江凯拓机电有限公司 | Unloading terminal hand claw group on manipulator |
| CN107020616A (en) * | 2017-04-12 | 2017-08-08 | 苏州红松江精密机械设备有限公司 | Small-sized machine Pneumatic paw and application method |
| CN206811996U (en) * | 2017-05-19 | 2017-12-29 | 四川信息职业技术学院 | A kind of industrial robot loading and unloading paw |
| CN208557555U (en) * | 2018-07-03 | 2019-03-01 | 钟华 | A kind of electromagnetism quick-release connector of manipulator |
| CN210452446U (en) * | 2019-07-26 | 2020-05-05 | 阿尔特汽车技术股份有限公司 | Positioning quick-change structure |
| CN211249296U (en) * | 2019-09-27 | 2020-08-14 | 宁波德立机器人有限公司 | Rotatable feeding and discharging pneumatic device |
| CN212372216U (en) * | 2020-08-21 | 2021-01-19 | 天津博诺智创机器人技术有限公司 | Two-division pneumatic three-jaw manipulator of industrial robot |
-
2020
- 2020-08-21 CN CN202010851971.2A patent/CN111906810A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206029935U (en) * | 2016-09-07 | 2017-03-22 | 浙江凯拓机电有限公司 | Unloading terminal hand claw group on manipulator |
| CN107020616A (en) * | 2017-04-12 | 2017-08-08 | 苏州红松江精密机械设备有限公司 | Small-sized machine Pneumatic paw and application method |
| CN206811996U (en) * | 2017-05-19 | 2017-12-29 | 四川信息职业技术学院 | A kind of industrial robot loading and unloading paw |
| CN208557555U (en) * | 2018-07-03 | 2019-03-01 | 钟华 | A kind of electromagnetism quick-release connector of manipulator |
| CN210452446U (en) * | 2019-07-26 | 2020-05-05 | 阿尔特汽车技术股份有限公司 | Positioning quick-change structure |
| CN211249296U (en) * | 2019-09-27 | 2020-08-14 | 宁波德立机器人有限公司 | Rotatable feeding and discharging pneumatic device |
| CN212372216U (en) * | 2020-08-21 | 2021-01-19 | 天津博诺智创机器人技术有限公司 | Two-division pneumatic three-jaw manipulator of industrial robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497191A (en) * | 2020-11-25 | 2021-03-16 | 常熟智造激光装备研究院有限公司 | Multifunctional industrial robot manipulator |
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