CN110842964A

CN110842964A - Direction-adjustable circular tube clamping manipulator

Info

Publication number: CN110842964A
Application number: CN201911225097.5A
Authority: CN
Inventors: 马国平; 朱寻觅
Original assignee: Jiaxing Qiujing Machinery Co Ltd
Current assignee: Jiaxing Qiujing Machinery Co Ltd
Priority date: 2019-12-04
Filing date: 2019-12-04
Publication date: 2020-02-28
Anticipated expiration: 2039-12-04
Also published as: CN110842964B

Abstract

The invention discloses a circular tube clamping manipulator capable of adjusting direction, which comprises an air cylinder, a supporting plate, a first conveyor, a bottom plate, a rotating motor, a clamping cylinder and anti-skidding rubber sleeves, wherein the rotating motor is fixed on the bottom surface of the bottom plate, an output shaft is connected with the top end of the clamping cylinder, the supporting plate is fixed at the end part of a telescopic rod of the air cylinder, a plurality of groups of first conveyors are arranged on the bottom surface of the supporting plate in a surrounding manner and drive the bottom plate and the clamping cylinder to move from the outer edge of the supporting plate to be close to or away from a circle center, each anti-skidding rubber sleeve comprises a protective plate, a rubber and a plug, the protective plate is an arc plate with a semicircular cross section, the rubber and the plug are respectively fixed on the outer arc surface and the inner arc surface of the protective plate, the plugs of two groups of anti-skidding rubber sleeves are respectively inserted into, can make the pipe by the centre gripping rotate at the in-process of centre gripping, avoid the pipe fitting surface to be sheltered from by the manipulator and influence processing.

Description

Direction-adjustable circular tube clamping manipulator

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of manipulators, in particular to the technical field of a circular tube clamping manipulator capable of adjusting direction.

[ background of the invention ]

The manipulator is an automatic operating device which can imitate certain actions of human hands, can grab and carry objects or operate tools according to fixed programs, and has the advantages of both human and machine in structure and performance. At present, when the circular tube is welded, drilled, cleaned and the like, the circular tube needs to be clamped by a 360-degree rotary manipulator, so that the circular tube can be smoothly worked. However, the existing manipulator is difficult to rotate in a large range in the using process, the flexibility of the device is weak, and after the manipulator grabs a round pipe, the position where the surface of the pipe is contacted with the finger part of the pipe is shielded, so that the processing is influenced.

[ summary of the invention ]

The invention aims to solve the problems in the prior art, and provides a circular tube clamping manipulator capable of adjusting the direction, which can rotate a clamped circular tube in the clamping process and avoid the influence on machining caused by the fact that the surface of a pipe fitting is shielded by the manipulator.

In order to achieve the purpose, the invention provides a circular tube clamping manipulator capable of adjusting the direction, which comprises an air cylinder, a support plate, first conveyors, a bottom plate, a rotating motor, a clamping cylinder and anti-skid rubber sleeves, wherein the rotating motor is fixed on the bottom surface of the bottom plate, an output shaft is connected with the top end of the clamping cylinder, the support plate is fixed on the end part of a telescopic rod of the air cylinder, a plurality of groups of first conveyors are arranged on the bottom surface of the support plate in a surrounding manner and drive the bottom plate and the clamping cylinder to move from the outer edge of the support plate to the center of a circle or away from the center of the circle, each anti-skid rubber sleeve comprises a guard plate, a rubber and a plug, the guard plate is an arc plate with a semicircular section, the rubber and the plug are respectively fixed on the outer arc surface and the inner arc surface of the guard plate, and the plugs of the two groups of anti-, and a plurality of groups of anti-slip rings are sequentially fixed outside the clamping cylinder from top to bottom.

Preferably, the first conveyor comprises a first screw rod, a first conveying motor for driving the first screw rod to rotate, a first nut fixed on the first screw rod in a threaded manner, and an end block positioned at the other end of the first screw rod, the first conveying motor and the end block are respectively fixed on the bottom surface of the supporting plate and are close to the circle center and the outer edge, and the bottom plate is fixed on the bottom surface of the first nut.

Preferably, the number of the first conveyors is 2-6.

Preferably, the clamping device further comprises a pressure sensor, and the pressure sensor is located in the clamping cylinder.

Preferably, the plug includes the main part and is located the flank of both sides about the main part, the one end of flank is fixed in the main part and is kept away from the one end of backplate, the vertical outside extension of the other end of flank forms spacing head, the socket includes first jack, first jack and the third jack that the level set up, the third jack sets up the upper and lower both sides at first jack respectively, the second jack is located the axle center side that first jack is close to a centre gripping section of thick bamboo, first jack and second jack are linked together and form the step hole, the aperture of first jack is less than the aperture of second jack, the junction side of second jack and first jack is linked together and forms the passageway with the third jack.

Preferably, the outer edge of the limiting head is provided with an inclined surface.

The invention has the beneficial effects that: the clamping cylinder is driven to approach or leave from the circle center of the supporting plate from the edge of the supporting plate by the plurality of first conveyors arranged on the bottom surface of the supporting plate in a surrounding manner, so that the circular tube is clamped or released, and the clamping is quick and firm; the rotary motor arranged on the bottom plate drives the clamping cylinder to rotate, so that the circular tube positioned in the center is driven to rotate by using friction force, and the clamping cylinder is effectively prevented from shielding the outer surface of the circular tube to limit other devices to process the circular tube; the detachable anti-skidding rubber sleeve is arranged, so that the rubber sheet can be replaced conveniently, and the smooth direction adjustment of the circular tube is ensured; through setting up pressure sensor, the centre gripping dynamics of response centre gripping section of thick bamboo avoids the pipe to be oppressed the deformation.

The features and advantages of the present invention will be described in detail by embodiments in conjunction with the accompanying drawings.

[ description of the drawings ]

FIG. 1 is a front view of an adjustable round tube gripping robot of the present invention;

FIG. 2 is a bottom view of an adjustable round tube gripping robot of the present invention;

FIG. 3 is a front cross-sectional view of a clamping cylinder of an adjustable round tube clamping robot of the present invention;

FIG. 4 is an enlarged schematic view at A of FIG. 3 when the plug is not fully inserted;

FIG. 5 is an enlarged schematic view at A of FIG. 3 when the plug has been fully inserted;

fig. 6 is a top view of the anti-slip rubber sleeve of the pipe clamping manipulator with adjustable direction.

In the figure: 11-air cylinder, 12-supporting plate, 13-first conveyor, 131-first conveying motor, 132-first screw, 133-first screw rod, 134-end block, 14-bottom plate, 15-rotating motor, 16-clamping cylinder, 161-socket, 1611-first jack, 1612-second jack, 1613-third jack, 1614-channel, 17-pressure sensor, 18-anti-slip rubber sleeve, 181-protective plate, 182-rubber skin, 183-plug, 1831-main body part, 1832-side wing, 1833-limiting head and 1834-inclined plane.

[ detailed description ] embodiments

Referring to fig. 1 to 6, the invention relates to an adjustable-direction circular tube clamping manipulator, which comprises an air cylinder 11, a support plate 12, a first conveyor 13, a bottom plate 14, a rotating motor 15, a clamping cylinder 16 and an anti-skid rubber sleeve 18, wherein the rotating motor 15 is fixed on the bottom surface of the bottom plate 14, an output shaft of the rotating motor is connected with the top end of the clamping cylinder 16, the support plate 12 is fixed on the end portion of a telescopic rod of the air cylinder 11, a plurality of groups of first conveyors 13 are arranged on the bottom surface of the support plate 12 in a surrounding manner and drive the bottom plate 14 and the clamping cylinder 16 to move from the outer edge of the support plate 12 to the center of a circle or away from the center of the circle, the anti-skid rubber sleeve 18 comprises a protection plate 181, a rubber sheet 182 and plugs 183, the protection plate 181 is an arc plate with a semicircular cross section, the rubber sheet 182 and the plugs 183 are respectively fixed on the outer arc surface and the inner arc surface of the protection plate 181 The clamping cylinder 16 is externally and sequentially fixed with a plurality of groups of anti-slip rings from top to bottom, the first conveyor 13 comprises a first screw rod 133, a first conveying motor 131 for driving the first screw rod 133 to rotate, a first screw nut 132 fixed on the first screw rod 133 in a threaded manner, an end block 134 positioned at the other end of the first screw rod 133, the first conveying motor 131 and the end block 134 are respectively fixed on the bottom surface of the supporting plate 12 and close to the circle center and the outer edge, the bottom plate 14 is fixed on the bottom surface of the first screw nut 132, the first conveyor 13 is 2-6 groups in number, the pressure sensor 17 is positioned in the clamping cylinder 16, the plug 183 comprises a main body portion 1831 and side wings 1832 positioned on the upper and lower sides of the main body portion 1831, one end of each side wing 1832 is fixed on one end of the main body portion 1831 far away from the guard plate 181, and the other ends of the side wings 1832 vertically extend outwards to form a limiting head 183, the socket 161 includes a first jack 1611, a first jack 1612 and a third jack 1613 which are horizontally arranged, the third jack 1613 is respectively arranged at the upper side and the lower side of the first jack 1611, the second jack 1612 is arranged at the axis side of the first jack 1611 close to the clamping cylinder 16, the first jack 1611 and the second jack 1612 are communicated and form a step hole, the aperture of the first jack 1611 is smaller than that of the second jack 1612, the side surface of the joint of the second jack 1612 and the first jack 1611 is communicated with the third jack 1613 and forms a channel 1614, and the outer edge of the limiting head 1833 is provided with a slope 1834.

The working process of the invention is as follows:

before operation, the lateral wings 1832 are pressed close to the main body 1831, and then the plug 183 is inserted into the bottom end of the second insertion hole 1612 along the first insertion hole 1611, so that the lateral wings 1832 spring open after passing through the first insertion hole 1611 and the limiting heads 1833 extend into the channel 1614, thereby sequentially fixing the plurality of anti-slip rubber sleeves 18 on the clamping barrel 16. During operation, firstly, the air cylinder 11 controls the support plate 12 and the components fixed thereon to move downwards through the telescopic rod, so that the clamping cylinder 16 surrounds the outer side of the round pipe to be clamped. Then, the first conveying motors 131 of the first conveyors 13 drive the first screws 133 to rotate, so that the first nuts 132 move inwards along the first screws 133, and the clamping cylinders 16 are driven to move from the outer edges of the supporting plates 12 to the center of the circle, thereby clamping the ends of the circular tubes. When the round tube needs to be rotated, the first conveying motor 131 drives the first screw rod 133 to rotate, so that the first screw nut 132 moves outwards along the first screw rod 133, and the clamping cylinder 16 is slightly released. Subsequently, the rotary motor 15 drives the clamping cylinder 16 to rotate, and the rubber sheet 182 outside the anti-skid rubber sleeve 18 drives the circular tube to rotate by using friction force. When the rubber 182 is worn seriously or the rubber 182 with different roughness needs to be replaced, a screwdriver or other slender hard rod is inserted into the third insertion hole 1613, the limiting head 1833 is pushed to leave the channel 1614, the protection plate 181 is pulled, and the anti-skid rubber sleeve 18 is removed and then a new anti-skid rubber sleeve 18 is inserted.

The clamping cylinder is driven to approach or leave from the circle center of the supporting plate from the edge of the supporting plate by the plurality of first conveyors arranged on the bottom surface of the supporting plate in a surrounding manner, so that the circular tube is clamped or released, and the clamping is quick and firm; the rotary motor arranged on the bottom plate drives the clamping cylinder to rotate, so that the circular tube positioned in the center is driven to rotate by using friction force, and the clamping cylinder is effectively prevented from shielding the outer surface of the circular tube to limit other devices to process the circular tube; the detachable anti-skidding rubber sleeve is arranged, so that the rubber sheet can be replaced conveniently, and the smooth direction adjustment of the circular tube is ensured; through setting up pressure sensor, the centre gripping dynamics of response centre gripping section of thick bamboo avoids the pipe to be oppressed the deformation.

The above embodiments are illustrative of the present invention, and are not intended to limit the present invention, and any simple modifications of the present invention are within the scope of the present invention.

Claims

1. The utility model provides a pipe centre gripping manipulator that can turn to which characterized in that: the anti-skidding rubber sleeve comprises an air cylinder (11), a supporting plate (12), a first conveyor (13), a bottom plate (14), a rotating motor (15), a clamping cylinder (16) and an anti-skidding rubber sleeve (18), wherein the rotating motor (15) is fixed on the bottom surface of the bottom plate (14), an output shaft of the rotating motor is connected with the top end of the clamping cylinder (16), the supporting plate (12) is fixed at the end part of a telescopic rod of the air cylinder (11), a plurality of groups of first conveyors (13) are arranged on the bottom surface of the supporting plate (12) in a surrounding mode and drive the bottom plate (14) and the clamping cylinder (16) to move close to or far away from a circle center from the outer edge of the supporting plate (12), the anti-skidding rubber sleeve (18) comprises a protective plate (181), a rubber sheet (182) and a plug (183), the protective plate (181) is an arc plate with a semicircular cross section, and the rubber sheet (182, plugs (183) of the two groups of anti-slip rubber sleeves (18) are respectively inserted into two sockets (161) which are positioned on the outer wall of the clamping cylinder (16) and correspondingly arranged on the same horizontal plane, so that a group of anti-slip rings are formed in a closed mode, and a plurality of groups of anti-slip rings are sequentially fixed outside the clamping cylinder (16) from top to bottom.

2. The round tube holding manipulator as claimed in claim 1, wherein: the first conveyor (13) comprises a first screw rod (133), a first conveying motor (131) for driving the first screw rod (133) to rotate, a first screw nut (132) fixed on the first screw rod (133) in a threaded mode and an end block (134) located at the other end of the first screw rod (133), the first conveying motor (131) and the end block (134) are respectively fixed to the bottom face of the supporting plate (12) and are close to the circle center and the outer edge, and the bottom plate (14) is fixed to the bottom face of the first screw nut (132).

3. The round tube holding manipulator as claimed in claim 1, wherein: the number of the first conveyors (13) is 2-6.

4. The round tube holding manipulator as claimed in claim 1, wherein: the clamping device further comprises a pressure sensor (17), wherein the pressure sensor (17) is positioned in the clamping cylinder (16).

5. The round tube holding manipulator as claimed in claim 1, wherein: the plug (183) comprises a main body part (1831) and side wings (1832) positioned at the upper side and the lower side of the main body part (1831), one end of the side wing (1832) is fixed at one end of the main body part (1831) far away from the guard plate (181), the other end of the side wing (1832) extends vertically outwards to form a limiting head (1833), the socket (161) comprises a first jack (1611), a first jack (1612) and a third jack (1613) which are horizontally arranged, the third insertion holes (1613) are respectively arranged at the upper side and the lower side of the first insertion hole (1611), the second insertion hole (1612) is positioned at the axial center side of the first insertion hole (1611) close to the clamping cylinder (16), the first insertion hole (1611) and the second insertion hole (1612) are communicated and form a stepped hole, the aperture of the first jack (1611) is smaller than the aperture of the second jack (1612), the side surface of the connection part of the second insertion hole (1612) and the first insertion hole (1611) is communicated with the third insertion hole (1613) to form a channel (1614).

6. The tube gripping robot of claim 5, wherein: the outer edge of the limiting head (1833) is provided with an inclined plane (1834).