CN214643732U

CN214643732U - High-precision positioning hardware embedding manipulator

Info

Publication number: CN214643732U
Application number: CN202120762640.1U
Authority: CN
Inventors: 孔庆丰; 杨雄
Original assignee: Jiangsu Ousute Machinery Technology Co ltd
Current assignee: Jiangsu Ousute Machinery Technology Co ltd
Priority date: 2021-04-14
Filing date: 2021-04-14
Publication date: 2021-11-09
Anticipated expiration: 2031-04-14

Abstract

The utility model discloses a high accuracy location five metals buries manipulator, including the cylinder, its characterized in that: the lower extreme fixed mounting of cylinder has the shell, the inboard fixed mounting of shell has the piston cylinder, the inboard swing joint of piston cylinder has hydraulic piston one, the upside fixed mounting of hydraulic piston one has piston rod one, piston rod one and cylinder fixed connection, the equal swing joint in inside both sides of piston cylinder has hydraulic piston two, and is two sets of the equal fixed mounting in one side of hydraulic piston two has piston rod two, and is two sets of the equal bearing of lower extreme of piston rod two is connected with the connecting axle, the inboard symmetrical welded fastening of shell has two sets of axis of rotation, and is two sets of the equal swing joint in the outside of axis of rotation has splint, and is two sets of splint and two sets of connecting axle fixed connection, the lower extreme both sides welded fastening of piston cylinder has two sets of jet-propelled pipes, the utility model discloses, have the practicality and press from both sides the characteristics of tight location.

Description

High-precision positioning hardware embedding manipulator

Technical Field

The utility model relates to a production machinery technical field specifically is a manipulator is buried to high accuracy location five metals.

Background

A robot refers to an automatic operating device that can simulate some action functions of human hands and arms and is used for grabbing, carrying objects or operating tools according to a fixed program. The device mainly comprises an executing mechanism, a driving mechanism and a control system. It can replace human to carry out heavy work to realize mechanization and automation of production, and can be extensively used in the departments of machine-building, light industry and atomic energy

The conventional manipulator cannot completely clamp and fix materials, the materials are prone to shifting due to looseness of clamping, and effective positioning cannot be achieved, so that the high-precision positioning hardware embedded manipulator which is high in design practicability and capable of clamping and positioning is necessary.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a manipulator is buried to high accuracy location five metals to solve the problem that proposes among the above-mentioned background art.

In order to solve the technical problem, the utility model provides a following technical scheme: the utility model provides a high accuracy location five metals imbeds manipulator, includes the cylinder, its characterized in that: the lower extreme fixed mounting of cylinder has the shell, the inboard fixed mounting of shell has the piston cylinder, the inboard swing joint of piston cylinder has hydraulic piston one, the upside fixed mounting of hydraulic piston one has piston rod one, piston rod one and cylinder fixed connection, the equal swing joint in inside both sides of piston cylinder has hydraulic piston two, and is two sets of the equal fixed mounting in one side of hydraulic piston two has piston rod two, and is two sets of the equal bearing of lower extreme of piston rod two is connected with the connecting axle, the inboard symmetry welded fastening of shell has two sets of axis of rotation, and is two sets of the equal swing joint in the outside of axis of rotation has splint, two sets of splint and two sets of connecting axle fixed connection.

According to the technical scheme, two groups of air injection pipes are fixedly welded on two sides of the lower end of the piston cylinder, clamping air bags are fixedly mounted on the inner sides of the lower ends of the two groups of clamping plates, clamping springs are fixedly welded on the inner sides of the lower ends of the two groups of clamping plates, clamping blocks are fixedly mounted on one sides of the two groups of clamping springs, the two groups of clamping blocks are in contact with the two groups of clamping air bags, and the two groups of air injection pipes are connected with the two groups of clamping air bags.

According to the technical scheme, the upper end of the piston cylinder is fixedly welded with the air suction pipe, the middle parts of the two groups of rotating shafts are fixedly welded with the middle plate, the middle part of the middle plate is movably connected with the air vent rod, the lower end of the air vent rod is fixedly welded with the suction disc, and the outer side of the air vent rod is movably connected with the upper limit spring.

According to the technical scheme, the lower end of the middle plate is fixedly welded with the air bag groove, the compression air bags are fixedly mounted on the inner sides of the air bag groove, two groups of compression air pipes are fixedly mounted on two sides of the lower end of each compression air bag, friction air bags are fixedly mounted on the inner sides of the clamping blocks, and the friction air bags are connected with the two groups of compression air pipes.

According to the technical scheme, the lower end of the piston cylinder is fixedly welded with the reset plate, the inner side of the piston cylinder is movably connected with the hydraulic baffle plate, the lower end of the hydraulic baffle plate is fixedly welded with the reset rod, the reset rod is movably connected with the reset plate, and the outer side of the reset rod is movably connected with the reset spring.

According to the technical scheme, the surface of the friction air bag is made of silica gel skin.

Compared with the prior art, the utility model discloses the beneficial effect who reaches is: the utility model is characterized in that the utility model,

(1) through the matching of the piston in the piston cylinder and the clamping plate, the piston can be pushed by the air cylinder, and the clamping plate is transferred by the pressure of oil in the piston cylinder to clamp materials;

(2) through the influence of the gas flow in the piston cylinder on the clamping air bag, the material can be further pressure-fixed while being clamped by the pressure of the piston, so that the material cannot move due to insufficient pressure, and the clamping degree of the mechanical claw is improved;

(3) through the cooperation of being provided with the internal gas pressure of piston cylinder and sucking disc, can reach and hold the upper surface of material when snatching the material, the horizontal angle of adjustment material prevents that the material from getting the time spent slope to further fixed material.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a front internal cross-sectional schematic view of the present invention;

fig. 3 is an enlarged schematic view of the region a of the present invention;

in the figure: 1. a cylinder; 2. a housing; 3. a splint; 4. a first piston rod; 5. a first hydraulic piston; 6. a piston cylinder; 7. a second hydraulic piston; 8. a piston rod II; 9. an air intake duct; 10. a hydraulic baffle; 11. a clamping spring; 12. a clamping block; 13. a reset lever; 14. a return spring; 15. a reset plate; 16. a connecting shaft; 17. a rotating shaft; 18. a ventilation bar; 19. an upper limit spring; 20. a neutral plate; 21. an air bag groove; 22. compressing the air bag; 23. a suction cup; 24. a gas ejector tube; 25. compressing the air pipe; 26. rubbing the air bag; 27. the air bag is clamped.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: the utility model provides a manipulator is buried to high accuracy location five metals, includes cylinder 1, its characterized in that: the lower end of the air cylinder 1 is fixedly provided with a shell 2, the inner side of the shell 2 is fixedly provided with a piston cylinder 6, the inner side of the piston cylinder 6 is movably connected with a first hydraulic piston 5, the upper side of the first hydraulic piston 5 is fixedly provided with a first piston rod 4, the first piston rod 4 is fixedly connected with the air cylinder 1, both sides of the interior of the piston cylinder 6 are movably connected with a second hydraulic piston 7, one side of each of the two groups of second hydraulic pistons 7 is fixedly provided with a second piston rod 8, the lower ends of the two groups of second piston rods 8 are respectively connected with a connecting shaft 16 in a bearing manner, the inner side of the shell 2 is symmetrically welded and fixed with two groups of rotating shafts 17, the outer sides of the two groups of rotating shafts 17 are respectively and movably connected with a clamping plate 3, the two groups of clamping plates 3 are fixedly connected with the two groups of connecting shafts 16, when the air cylinder 1 is ventilated and pressed, the first hydraulic piston 5 is pressed downwards in the piston cylinder 6 by the pressure of the first piston rod 4 of the air cylinder 1, and the oil in the piston cylinder 6 is pressed downwards by the two groups of second hydraulic pistons 7, the two groups of piston rods II 8 move towards the two sides obliquely and downwards under the pressure of the two groups of hydraulic pistons II 7, and because the upper parts of the two side clamping plates 3 are movably connected with the two groups of piston rods II 8 through the two side connecting shafts 16, the upper parts of the two side clamping plates 3 are outwards opened under the pressure of the two groups of piston rods II 8, and the middle parts of the two side clamping plates 3 rotate around the two groups of rotating shafts 17 fixed in the shell 2, the lower parts of the two side clamping plates 3 are clamped towards the inner center, so that the clamping plates 3 can clamp materials under the pressure action of the cylinder 1 on the pistons, the structure is simple, the stability is realized, and the important function of positioning is played in clamping the materials;

two groups of air injection pipes 24 are fixedly welded on two sides of the lower end of the piston cylinder 6, clamping air bags 27 are fixedly arranged on the inner sides of the lower ends of the two groups of clamping plates 3, clamping springs 11 are fixedly welded on the inner sides of the lower ends of the two groups of clamping springs 3, clamping blocks 12 are fixedly arranged on one sides of the two groups of clamping springs 11, the two groups of clamping blocks 12 are in contact with the two groups of clamping air bags 27, the two groups of air injection pipes 24 are connected with the two groups of clamping air bags 27, when the two groups of hydraulic pistons two 7 move downwards under the pressure of oil in the piston cylinder 6, air in the piston cylinder 6 on the lower ends of the two groups of hydraulic pistons two 7 is extruded to flow into the two groups of clamping air bags 27 through the air injection pipes 24, the air in the clamping air bags 27 is expanded to generate pressure on the clamping blocks 12, the clamping blocks 12 are stressed to protrude from the inner sides of the clamping plates 3, the clamping springs 11 are contracted by the pressure of the clamping blocks 12, when materials need to be put down, the two groups of hydraulic pistons two 7 move upwards, air in the clamping air bags 27 on the two sides is pumped back into the piston cylinder 6, the clamping blocks 12 lose the pressure of the clamping air bags 27 and retract into the clamping plate 3 under the influence of the elastic force of the clamping springs 11, so that the materials are further clamped conveniently, the materials cannot move due to insufficient pressure, and the clamping degree of the mechanical claw is improved;

an air suction pipe 9 is fixedly welded at the upper end of the piston cylinder 6, a middle position plate 20 is fixedly welded at the middle parts of the two groups of rotating shafts 17, a ventilation rod 18 is movably connected at the middle part of the middle position plate 20, a suction cup 23 is fixedly welded at the lower end of the ventilation rod 18, an upper limit spring 19 is movably connected at the outer side of the ventilation rod 18, when the hydraulic piston 5 moves downwards to clamp materials, the space in the piston cylinder 6 at the upper part of the hydraulic piston 5 is increased, the negative pressure is also increased, air is sucked from the outside through the suction cup 23, the ventilation rod 18 and the air suction pipe 9, when the lower part of the clamping plate 3 clamps the materials, the suction cup 23 is in contact with the upper surface of the materials, the suction cup 23 generates suction force to suck the materials, the horizontal angle of the materials is adjusted, the inclination of the materials during clamping is prevented, and the materials are further fixed;

an air bag groove 21 is fixedly welded at the lower end of the middle plate 20, a compression air bag 22 is fixedly installed on the inner side of the air bag groove 21, two groups of compression air pipes 25 are fixedly installed on two sides of the lower end of the compression air bag 22, friction air bags 26 are fixedly installed on the inner sides of two groups of clamping blocks 12, the two groups of friction air bags 26 are connected with the two groups of compression air pipes 25, when the clamped materials are overweight, the materials deflect downwards under the influence of gravity after being clamped, the suction disc 23 sucks the materials to move downwards along with the materials, the vent rod 18 moves downwards along with the suction disc 23 to generate pressure on the compression air bags 22 fixed in the air bag groove 21, the compression air bags 22 contract under force, the gas in the compression air bags 22 flows into the friction air bags 26 on two sides through the compression air pipes 25, the friction air bags 26 expand to generate pressure on the materials from the protrusion in the clamping blocks 12, the force for clamping the materials is controlled by the self weight of the materials, and the materials are prevented from being incapable of being clamped due to overweight, the application range of the mechanical claw is improved;

the lower end of the piston cylinder 6 is fixedly welded with a reset plate 15, the inner side of the piston cylinder 6 is movably connected with a hydraulic baffle plate 10, the lower end of the hydraulic baffle plate 10 is fixedly welded with a reset rod 13, the reset rod 13 is movably connected with the reset plate 15, the outer side of the reset rod 13 is movably connected with a reset spring 14, the reset rod 13 is fixedly welded with the hydraulic baffle plate 10, the reset rod 13 is movably connected with the reset plate 15 welded at the lower end of the piston cylinder 6, the hydraulic baffle plate 10 is always contacted with a hydraulic piston I5 under the action of the elastic force of the reset spring 14, oil in the piston cylinder 6 is divided into two parts with the same quantity, the clamping force of the clamping plates 3 at the two sides is balanced, the material position deviation caused by the unequal clamping force at the two sides is prevented, and the stability of a mechanical claw is improved;

the surface material of friction gasbag 26 is the silica gel skin, has increased the frictional force who presss from both sides tight material, prevents that the material is smooth and influence from snatching the effect.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a high accuracy location five metals imbeds manipulator, includes cylinder (1), its characterized in that: the lower end of the cylinder (1) is fixedly provided with a shell (2), the inner side of the shell (2) is fixedly provided with a piston cylinder (6), the inner side of the piston cylinder (6) is movably connected with a first hydraulic piston (5), the upper side of the first hydraulic piston (5) is fixedly provided with a first piston rod (4), the piston rod I (4) is fixedly connected with the air cylinder (1), two sides of the interior of the piston cylinder (6) are movably connected with hydraulic pistons II (7), one side of each of the two groups of hydraulic pistons II (7) is fixedly provided with a piston rod II (8), the lower ends of the two groups of piston rods II (8) are respectively connected with a connecting shaft (16) in a bearing manner, the inboard symmetry welded fastening of shell (2) has two sets of axis of rotation (17), and is two sets of the equal swing joint in outside of axis of rotation (17) has splint (3), and is two sets of splint (3) and two sets of connecting axle (16) fixed connection.

2. The high-precision positioning hardware embedded manipulator of claim 1, characterized in that: the lower extreme both sides welded fastening of piston cylinder (6) has two sets of jet-propelled pipe (24), and is two sets of the inboard equal fixed mounting of lower extreme of splint (3) has tight gasbag (27), and is two sets of the inboard equal welded fastening of lower extreme of splint (3) has clamping spring (11), and is two sets of the equal fixed mounting in one side of clamping spring (11) has tight piece (12), and is two sets of tight piece (12) of clamp contacts with two sets of tight gasbags (27), and is two sets of jet-propelled pipe (24) are connected with two sets of tight gasbags (27) of clamp.

3. The high-precision positioning hardware embedded manipulator of claim 2, characterized in that: the air suction pipe (9) is welded and fixed to the upper end of the piston cylinder (6), the middle portions of the two sets of rotating shafts (17) are welded and fixed with a middle plate (20), the middle portion of the middle plate (20) is movably connected with an air vent rod (18), a suction disc (23) is welded and fixed to the lower end of the air vent rod (18), and an upper limit spring (19) is movably connected to the outer side of the air vent rod (18).

4. The high-precision positioning hardware embedded manipulator of claim 3, characterized in that: the lower extreme welded fastening of median plate (20) has gasbag groove (21), the inboard fixed mounting in gasbag groove (21) has compression gasbag (22), the lower extreme both sides fixed mounting of compression gasbag (22) has two sets of compressed air pipes (25), and is two sets of the inboard equal fixed mounting who presss from both sides tight piece (12) has friction gasbag (26), and is two sets of friction gasbag (26) are connected with two sets of compressed air pipes (25).

5. The high-precision positioning hardware embedded manipulator of claim 4, characterized in that: the lower extreme welded fastening of piston cylinder (6) has reset plate (15), the inboard swing joint of piston cylinder (6) has hydraulic baffle (10), the lower extreme welded fastening of hydraulic baffle (10) has release link (13), release link (13) and reset plate (15) swing joint, the outside swing joint of release link (13) has reset spring (14).

6. The high-precision positioning hardware embedded manipulator of claim 5, characterized in that: the surface material of the friction air bag (26) is silica gel skin.