CN209125821U - A kind of Pneumatic manipulator - Google Patents
A kind of Pneumatic manipulator Download PDFInfo
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- CN209125821U CN209125821U CN201821428010.5U CN201821428010U CN209125821U CN 209125821 U CN209125821 U CN 209125821U CN 201821428010 U CN201821428010 U CN 201821428010U CN 209125821 U CN209125821 U CN 209125821U
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- gripper body
- linking arm
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- driven
- hand
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Abstract
The utility model discloses a kind of Pneumatic manipulators, it is intended to provide a kind of simple with structure, it is at low cost, it can be rotated between several fixed angles, use a kind of Pneumatic manipulator of the high advantage of precision, its key points of the technical solution are that being equipped with the connector to drive Gripper body to determine angle rotation between Gripper body and linking arm, connector includes the driving disc spacing pressing in linking arm and is rotatably connected on the driven disc on connector and with the concentric fixation of Gripper body, drive rod is extended on driving disc spacing pressing, several driver slots are equipped with around its center on driven disc, driver slot is adapted to drive rod, the driving motor for driving active disc spins is additionally provided in linking arm, the overall structure of this manipulator is relatively simple, and it is driven using common motor, cost is relatively simple, simultaneously in the clamping process of manipulator, pass through company The Gripper body of fitting connection is not easily susceptible to external force and rotates, and avoid influence manipulator uses precision.
Description
Technical field
The utility model relates to mechanical paw fields, and in particular to a kind of Pneumatic manipulator.
Background technique
Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object
Or the automatic pilot of operational instrument.Feature is that various expected operations can be completed by programming, on construction and performance
Have the advantage of people and robotics respectively concurrently.
Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can be instead of the numerous of people
Heavy work can be operated with realizing the mechanization and automation of production under hostile environment to protect personal safety, thus answer extensively
For departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator is mainly made of executing agency, driving mechanism and control system three parts.Hand is for grasping work
The component of part (or tool), according to by the shape of grasping object, size, weight, material and job requirements and there are many structure shape
Formula, such as clamp-type, holding type and absorbent-type.Movement mechanism makes hand complete various rotations (swing), mobile or compound motion
It realizes defined movement, changes by the position of grasping object and posture.
The self-movements mode, the referred to as freedom degree of manipulator such as the lifting of movement mechanism, flexible, rotation.In order to grab sky
Between middle any position and orientation object, need to have 6 freedom degrees.Freedom degree is the key parameter of manipulator design.Freedom degree is got over
More, the flexibility of manipulator is bigger, and versatility is wider, and structure is also more complicated.
General special manipulator has 2~3 freedom degrees.Control system is by the motor to each freedom degree of manipulator
Control, to complete specific action.The information of receiving sensor feedback simultaneously, forms stable closed-loop control.The core of control system
The heart is usually to be made of microcontroller chips such as single-chip microcontroller or dsp, realizes wanted function by programming to it.
Currently, the Chinese patent of Publication No. CN207288692U discloses a kind of stamping parts clamping Pneumatic manipulator,
It includes holder, guide block, screw rod, nut, clamp hand, connecting rod, piston, cylinder, and holder, guide block, clamp hand are located in same level, folder
Seat is welded with guide block, and screw rod runs through guide block, clamp hand, screw rod and guide block, clamp hand clearance fit, and screw rod both ends are meshed with nut,
Clamp hand is flexibly connected by connecting rod with piston one end, and the piston other end is located at cylinder interior, and piston is flexibly connected with cylinder, cylinder
Weld together with holder, guide block is made of ontology, guide groove, through-hole, and ontology is font, and ontology is equipped with guide groove, guide groove up and down
Both ends are equipped with through-hole, guide groove and clamp hand clearance fit, and clamp hand is equipped with perforation, perforate consistent with through-hole diameter and are concentric circles.
Although this stamping parts clamping, by guide groove and clamp hand clearance fit, substantially increases gripper with Pneumatic manipulator
The amplitude opened expands use scope, and use is more flexible, but Pneumatic manipulator needs to rotate when in use to change clamping object
The angle of body, and angle is rotated generally by Serve Motor Control, and use the cost of servo motor larger, it is unfavorable for pneumatic machinery
The expansion of hand uses, and the rotation that is interfered is easy after servo motor stress, and influence manipulator uses precision.
Summary of the invention
It is simple with structure the purpose of the utility model is to provide a kind of Pneumatic manipulator, it is at low cost, it can be several
It is rotated between a fixed angle, uses the high advantage of precision.
The above-mentioned technical purpose of the utility model has the technical scheme that
A kind of Pneumatic manipulator, including linking arm, Gripper body and several be rotatably connected on the clamping jaw on Gripper body,
Gripper body is equipped with the actuator for driving clamping jaw to complete clamping, is equipped between Gripper body and linking arm to drive folder
Head ontology determines the connector of angle rotation, and connector includes the driving disc spacing pressing in linking arm and is rotatably connected on connector simultaneously
With the driven disc of the concentric fixation of Gripper body, it is extended with drive rod on driving disc spacing pressing, is equipped on driven disc around its center several
A driver slot, driver slot are adapted to drive rod, and the driving motor for driving active disc spins is additionally provided in linking arm.
By using above-mentioned technical proposal, driving motor drives active disc spins, drive rod and driven disc on driving disc spacing pressing
On driver slot cooperation, drive rod drives after driver slot rotates by a certain angle, and drive rod is detached from driver slot, such driven disc spins
It stops after certain angle, since driven disc and Gripper body are fixed, Gripper body equally can after driven disc rotates by a certain angle
Angle rotation is determined, to complete the fixed angle rotation of manipulator.
The overall structure of such manipulator is relatively simple, and is driven using common motor, and cost is relatively simple, together
When in the clamping process of manipulator, be not easily susceptible to external force by the Gripper body that connector connects and rotate, avoid
Influence manipulator uses precision, improves the using effect of manipulator.
Further setting: driving disc spacing pressing includes circular rotating part, and fitting is equipped between adjacent driven slot on driven disc
The driven slot of rotating part setting, driven slot are in the circular shape of indent.
Further setting: driven disc is rotatablely connected on the connecting arm by shaft, is interference fitted between shaft and linking arm.
By using above-mentioned technical proposal, interference fit can increase between shaft and linking arm between shaft and linking arm
Friction, avoid the driven disc in shaft from being rotated by external force, influence operation precision, while rotating part and driven slot
Cooperation can facilitate the rotation of driving disc spacing pressing, control rotary chuck ontology convenient for driving disc spacing pressing.
Further setting: actuator includes the driving cylinder being fixed on Gripper body, is driven solid on the output shaft of cylinder
Surely there is connection strap, connection strap is slidably connected in Gripper body.
Further setting: clamping jaw one end is rotatably connected in Gripper body by articulated shaft, is symmetrical arranged in Gripper body
There are two the identical clamping jaws of shape.
Further setting: clamping jaw is located at one end in Gripper body equipped with hinge bar, and hinge bar one end is rotatably connected on folder
On pawl, the other end is rotatably connected on connecting plate end.
By using above-mentioned technical proposal, the output shaft of cylinder is driven to drive connecting plate activity, the hinge bar on connecting plate
The clamping jaw of linkage two sides, makes clamping jaw make contrary rotary motion around articulated shaft, to make clamping jaw into Gripper body
Between synchronous rotary, to complete clamping of the clamping jaw to workpiece.
Further setting: clamping jaw is equipped with several collet finger tips, and collet finger tip is equipped with for increasing the anti-skidding of friction
Lines.
By using above-mentioned technical proposal, collet finger tip can increase the pressure to workpiece, to promote the secured of clamping
Property, while non-slip texture can be avoided workpiece and fall, and reach preferable clamping effect.
In conclusion the utility model has the following beneficial effects:
The overall structure of manipulator is relatively simple, and is driven using common motor, and cost is relatively simple, while
In the clamping process of manipulator, external force is not easily susceptible to by the Gripper body that connector connects and is rotated, influence is avoided
Manipulator uses precision, improves the using effect of manipulator.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawing.
Fig. 1 is the structural schematic diagram of embodiment 1；
Fig. 2 is the structural schematic diagram of clamping jaw in embodiment 1；
Fig. 3 is the structure chart of connector in embodiment 1；
Fig. 4 is industrial robot conveying robot overall structure diagram；
Fig. 5 is structure enlargement diagram at B in Fig. 4；
Fig. 6 is the structural schematic diagram that industrial robot conveying robot is used to show sliding slot sliding block；
Fig. 7 is structure enlargement diagram at C in Fig. 6.
In figure, 1, linking arm；11, Gripper body；12, clamping jaw；13, collet finger tip；131, non-slip texture；2, actuator；
21, cylinder is driven；22, connection strap；23, hinge bar；24, articulated shaft；3, connector；31, driving disc spacing pressing；311, rotating part；32, from
Moving plate；321, driven slot；33, drive rod；34, driver slot；35, driving motor；36, shaft；4, piston rod；5, supporting plate；6, even
Fishplate bar；7, micro-adjusting mechanism；701, fixture block；702, fixed plate；703, screw hole；704, hexagon socket head cap screw；705, nut；706, axis
It holds；707, sliding slot；708, sliding block；709, first through hole；710, slide bar；711, block.
Specific embodiment
Specific embodiments of the utility model will be further explained with reference to the accompanying drawing.
The technical scheme adopted by the utility model is
Embodiment 1, a kind of Pneumatic manipulator, as shown in Figure 1 comprising the linking arm 1 being connected in equipment, linking arm 1
It is equipped with Gripper body 11, is connected between linking arm 1 and Gripper body 11 by connector 3.Gripper body 11 and linking arm 1 it
Between can be determined by connector 3 angle rotation.11 end of Gripper body is connected with several clamping jaws 12, and clamping jaw 12 is rotatably connected on
On Gripper body 11.The actuator 2 for driving clamping jaw 12 to complete clamping work is additionally provided in Gripper body 11.
As depicted in figs. 1 and 2, actuator 2 includes the driving cylinder 21 being fixed on Gripper body 11, drives cylinder 21
Output shaft on be fixed with connection strap 22, connection strap 22 is slidably connected in Gripper body 11.12 one end of clamping jaw passes through articulated shaft
24 are rotatably connected in Gripper body 11, and arranged symmetrically in Gripper body 11 there are two the identical clamping jaws 12 of shape.
As depicted in figs. 1 and 2, clamping jaw 12 is located at one end in Gripper body 11 equipped with hinge bar 23,23 one end of hinge bar
It is rotatably connected on clamping jaw 12, the other end is rotatably connected on 22 end of connection strap.Clamping jaw 12 is equipped with several collet finger tips 13,
Collet finger tip 13 is equipped with the non-slip texture 131 for increasing friction.The output shaft of cylinder 21 is driven to drive connection strap 22 living
Dynamic, the clamping jaw 12 of the linkage of hinge bar 23 two sides on connection strap 22 makes clamping jaw 12 make contrary rotation around articulated shaft 24
Transhipment is dynamic, to make clamping jaw 12 rotate to 11 mid-ambles of Gripper body, to complete clamping of the clamping jaw 12 to workpiece.
As shown in figures 1 and 3, it is equipped between Gripper body 11 and linking arm 1 to drive Gripper body 11 to determine angle rotation
The connector 3 turned, connector 3 include the driving disc spacing pressing 31 in the linking arm 1 and be rotatably connected on connector 3 and with collet sheet
The driven disc 32 of the concentric fixation of body 11 is extended with drive rod 33 on driving disc spacing pressing 31, if being equipped on driven disc 32 around its center
Dry driver slot 34, driver slot 34 are adapted to drive rod 33, and the drive for driving driving disc spacing pressing 31 to rotate is additionally provided in linking arm 1
Dynamic motor 35.
As shown in figures 1 and 3, driving disc spacing pressing 31 includes circular rotating part 311, is located at adjacent driven slot on driven disc 32
The driven slot 321 that fitting rotating part 311 is arranged is equipped between 34, driven slot 321 is in the circular shape of indent.Driven disc 32 is logical
It crosses shaft 36 to be rotatably connected on linking arm 1, be interference fitted between shaft 36 and linking arm 1.
Driving motor 35 drives driving disc spacing pressing 31 to rotate, the driver slot on drive rod 33 and driven disc 32 on driving disc spacing pressing 31
34 cooperations, after drive rod 33 drives driver slot 34 to rotate by a certain angle, drive rod 33 is detached from driver slot 34, such driven disc 32
It stops after rotating by a certain angle, since driven disc 32 and Gripper body 11 are fixed, collet sheet after driven disc 32 rotates by a certain angle
Body 11 can equally determine angle rotation, to complete the fixed angle rotation of manipulator.
As shown in Figures 1 and 2, including mechanical arm connecting plate, mechanical arm connecting plate top connect mechanical arm, mechanical arm connection
Board bottom portion is fixedly installed with cylinder mounting plate, and cylinder mounting plate bottom is fixedly installed with wealthy type finger cylinder in the horizontal direction, wealthy
The model MHL2 of type finger cylinder is arranged in the present embodiment there are three the wealthy type finger cylinder being parallel to each other, and increase finishes
Structure stability, wealthy type finger cylinder both ends are equipped with piston rod 4, and piston rod 4 is fixedly installed with far from one end of wealthy type finger cylinder
Perpendicular to the supporting plate 5 of piston rod 4, supporting plate 5 is fixedly installed with connecting plate 6, connecting plate 6 and 5 phase of supporting plate far from piston rod 4 on one side
It is mutually vertical.
As shown in Fig. 2, Fig. 4 and Fig. 5,6 bottom of connecting plate is equipped with several grooves 9 being parallel to each other, and groove 9 is perpendicular to work
Stopper rod 4, the spacing between adjacent grooves 9 is equal, several second through-holes 11 is equipped in groove 9, the second through-hole 11 is through connection
Plate 6.
As shown in Fig. 3, Fig. 6,6 bottom of connecting plate is equipped with micro-adjusting mechanism 7, and micro-adjusting mechanism 7 includes being located in two grooves 9
Fixture block 701 is equipped with the internal thread hole 10 to match with the second through-hole 11 at the top of fixture block 701, and connecting plate 6 is equipped with and internal thread hole
10 bolts 12 to match, bolt 12 is connected through the second through-hole 11 with internal thread hole 10, so that connecting plate 6 and fixture block
Detachable between 701,701 bottom of fixture block is fixedly installed with L-shaped fixed plate 702, and 702 side of fixed plate is equipped with screw hole 703, spiral shell
Hole 703 is located at 702 middle part of fixed plate, and fixed plate 702 is equipped with hexagon socket head cap screw 704, hexagon socket head cap screw far from the side of piston rod 4
704 are parallel to each other with piston rod 4, and hexagon socket head cap screw 704 is connected with nut 705 through fixed plate 702, and nut 705, which is located at, to be fixed
702 two sides of plate, nut 705 can be fixed by fixed plate 702 and hexagon socket head cap screw 704, and hexagon socket head cap screw 704 is close to piston rod 4
The hand that one end is equipped with plate grabs 8, and hand grabs 8 and is equipped with bearing 706 close to the one side of hexagon socket head cap screw 704, and hexagon socket head cap screw 704 is logical
It crosses bearing 706 and hand grabs 8 rotation connections.
As shown in fig. 7, hand, which grabs 8 tops, is equipped with sliding block 708, fixed plate 702 is equipped with sliding slot 707 close to the one side that hand grabs 8,
Sliding block 708 is slidably connected with sliding slot 707, and fixed plate 702 is equipped with several first through hole 709, is equipped in first through hole 709
Slide bar 710, slide bar 710 are slidably connected with fixed plate 702, and the one end of slide bar 710 far from fixed plate 702 and hand grab 8 fixed companies
It connects, the length of slide bar 710 is equal with hexagon socket head cap screw 704, and slide bar 710 is equipped with block 711, block far from one end that hand grabs 8
711 size is greater than through-hole, skids off fixed plate 702 so as to avoid slide bar 710.
As shown in Figure 1, hand grabs 8 is fixedly installed with mechanical brakeman 13 close to piston rod 4 on one side, hand grabs 8 bottoms and passes through spiral shell
14 dismantling connections of silk have baffle 15, and baffle 15 is grabbed 8 with hand and is mutually perpendicular to, and industrial robot conveying robot is integrally one with gas
Cylinder is the mirror-image structure of mirror surface.
Its main operational principle are as follows: wealthy type finger cylinder movement, the piston rod 4 at wealthy type finger cylinder both ends stretch out together,
Piston rod 4 drives the supporting plate 5 at cylinder both ends to be located remotely from each other, and is located remotely from each other so that connecting plate 6, fixed plate 702 and hand be driven to grab 8,
When wealthy type finger cylinder is displaced to range, two hands grab the distance between 8 and are also separated into maximum distance, and mechanical arm 16 drives
Industrial robot conveying robot is displaced to the position of control cabinet placement；Wealthy type finger cylinder movement, piston rod 4 are shunk together,
Piston rod 4 drives the supporting plate 5 at cylinder both ends close to each other, so that it is 8 close to each other to drive connecting plate 6, fixed plate 702 and hand to grab,
When wealthy type finger cylinder is displaced to minimum stroke, two hands grab the distance between 8 also close to minimum range is arrived, thus by control cabinet
It clamps, recycles mechanical arm 16 that industrial robot conveying robot is driven to carry control cabinet；User can be according to control
The big minor adjustment hand of cabinet processed grabs maximum, minimum range between 8, and the fixture block 701 of micro-adjusting mechanism 7 is installed to suitable groove 9
In, hexagon socket head cap screw 704 is rotated, band starts to grab 8 to close or direction displacement far from fixed plate 702, while hand grabs 8 tops
Sliding block 708 slided in sliding slot 707, slide bar 710 slides in the first through hole 709 of fixed plate 702, realizes to two
Hand grabs the fine tuning of 8 distances.
It is the preferred embodiment of the utility model above, does not impose any limitation on the present invention,
All foundation the technical essence of the utility model any simple modification, equivalent change and modification made to the above embodiment,
Belong in the range of utility model technical solution.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821428010.5U CN209125821U (en) | 2018-12-14 | 2018-12-14 | A kind of Pneumatic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821428010.5U CN209125821U (en) | 2018-12-14 | 2018-12-14 | A kind of Pneumatic manipulator |
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| Publication Number | Publication Date |
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| CN209125821U true CN209125821U (en) | 2019-07-19 |
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| CN201821428010.5U Active CN209125821U (en) | 2018-12-14 | 2018-12-14 | A kind of Pneumatic manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202564A (en) * | 2018-12-14 | 2019-09-06 | 无锡职业技术学院 | A kind of Pneumatic manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202564A (en) * | 2018-12-14 | 2019-09-06 | 无锡职业技术学院 | A kind of Pneumatic manipulator |
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