CN113276142B - Pneumatic manipulator of industrial robot - Google Patents
Pneumatic manipulator of industrial robot Download PDFInfo
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- CN113276142B CN113276142B CN202110603679.3A CN202110603679A CN113276142B CN 113276142 B CN113276142 B CN 113276142B CN 202110603679 A CN202110603679 A CN 202110603679A CN 113276142 B CN113276142 B CN 113276142B
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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
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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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Abstract
The invention discloses a pneumatic manipulator of an industrial robot, which comprises a quick connection end, wherein the quick connection end comprises a tool disc, an extension shaft and a first end disc, the extension shaft is arranged on one side of the tool disc, the first end disc is arranged at the end part of the extension shaft, a slot is arranged on the quick connection end from one side of the first end disc, and the slot extends into the extension shaft; the pneumatic claw comprises an air cylinder, a clamping jaw and a connecting shaft, the clamping jaw and the connecting shaft are respectively arranged at two ends of the air cylinder, and the connecting shaft is connected with the slot; the invention is convenient for replacing the mechanical arm at the end part of the mechanical arm and improves the efficiency.
Description
Technical Field
The invention relates to the technical field of manipulators, in particular to a pneumatic 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
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments, and some simplifications or omissions may be made in this section as well as in the abstract and title of the application to avoid obscuring the purpose of this section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made keeping in mind the above problems occurring in the prior art and/or the problems occurring in the prior art.
Therefore, the technical problem to be solved by the invention is that the replacement of the manipulator in the prior art is troublesome and labor-consuming and is difficult to meet the production requirement.
In order to solve the technical problems, the invention provides the following technical scheme: an industrial robot pneumatic manipulator comprises a pneumatic manipulator body,
the quick connection end comprises a tool disc, an extension shaft and a first end disc, the extension shaft is arranged on one side of the tool disc, the first end disc is arranged at the end part of the extension shaft, and a slot is arranged on the quick connection end from one side of the first end disc and extends into the extension shaft;
the pneumatic claw comprises an air cylinder, a clamping jaw and a connecting shaft, wherein the clamping jaw and the connecting shaft are respectively arranged at two ends of the air cylinder, and the connecting shaft is connected with the slot.
As a preferable aspect of the pneumatic manipulator of the industrial robot according to the present invention, wherein: a third guide groove is formed in the first end disc, and a limiting groove is formed in the bottom of the third guide groove;
as a preferable aspect of the pneumatic manipulator of the industrial robot according to the present invention, wherein: first end dish one side still is provided with the piece that pushes away, it includes second end dish, guiding axle and end plate to push away the piece, the end plate pass through the guiding axle with the second end dish is connected.
The guiding shaft is arranged in the third guiding groove, the end plate is arranged in the limiting groove, and the end plate is connected with the bottom of the limiting groove through a first spring.
As a preferable aspect of the pneumatic manipulator of the industrial robot according to the present invention, wherein: the slot is internally provided with a ring groove, a radial groove is arranged at the end part of the slot along the radial direction, and the radial groove is communicated with the ring groove;
and the quick-connecting end is also provided with a vent passage communicated with the annular groove.
As a preferable aspect of the pneumatic manipulator of the industrial robot according to the present invention, wherein: a clamping groove is formed in one side, close to the radial groove, of the annular groove, and the clamping groove and the radial groove are arranged in a staggered mode.
As a preferable aspect of the pneumatic manipulator of the industrial robot according to the present invention, wherein: a ring plate is arranged in the ring groove and is connected with one side of the ring groove through a second spring;
and a sealing ring is arranged on one side of the ring plate.
As a preferable aspect of the pneumatic manipulator of the industrial robot according to the present invention, wherein: and an arc-shaped clamping block is arranged on the outer side of the end part of the connecting shaft.
As a preferable aspect of the pneumatic manipulator of the industrial robot according to the present invention, wherein: the fixing end comprises a fixing disc, a connecting piece and a locking piece, and the connecting piece and the locking piece are embedded in the fixing disc;
a first guide groove is formed in the center of one side of the fixed disc, and a first placing groove is formed in the bottom of the first guide groove;
the first placing groove is larger than the first guide groove in size.
As a preferable aspect of the pneumatic manipulator of the industrial robot according to the present invention, wherein: the connecting piece comprises a first gear disc and an intermediate shaft, and the first gear disc is arranged at one end of the intermediate shaft;
the jackshaft set up in the first guide way, first toothed disc sets up in the first standing groove.
As a preferable aspect of the pneumatic manipulator of the industrial robot according to the present invention, wherein: the other end of the intermediate shaft is provided with an inserting shaft, and the circumferential surface of the inserting shaft is provided with a precession groove.
The invention has the beneficial effects that: the invention is convenient for replacing the mechanical arm at the end part of the mechanical arm and improves the efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic overall structure diagram of an industrial robot pneumatic manipulator according to an embodiment of the present invention;
fig. 2 is an exploded schematic view of the overall structure of an industrial robot pneumatic manipulator according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of the inside of a slot in a pneumatic manipulator of an industrial robot according to an embodiment of the present invention;
fig. 4 is a schematic cross-sectional view illustrating a connection between a first end plate and a connecting shaft in a pneumatic manipulator of an industrial robot according to an embodiment of the present invention;
fig. 5 is a schematic sectional view illustrating an assembly of a fast connection end and a fixed end in a pneumatic manipulator of an industrial robot according to an embodiment of the present invention;
fig. 6 is a schematic diagram of an exploded cross-sectional structure of a connection between a fast-connection end and a fixed end in a pneumatic manipulator of an industrial robot according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanying figures of the present invention are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Next, the present invention will be described in detail with reference to the drawings, wherein the cross-sectional views illustrating the structure of the device are not enlarged partially according to the general scale for convenience of illustration when describing the embodiments of the present invention, and the drawings are only examples, which should not limit the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Furthermore, the reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Example 1
Referring to fig. 1 to 4, the present embodiment provides an industrial robot pneumatic manipulator, including a quick connection end 100, where the quick connection end 100 includes a tool tray 101, an extension shaft 105 and a first end tray 106, the extension shaft 105 is disposed on one side of the tool tray 101, the first end tray 106 is disposed at an end portion of the extension shaft 105, a slot 107 is disposed on the quick connection end 100 from one side of the first end tray 106, and the slot 107 extends into the extension shaft 105; the pneumatic claw 200, the pneumatic claw 200 includes cylinder 201, clamping jaw 202 and connecting axle 203, and clamping jaw 202 and connecting axle 203 set up respectively in the both ends of cylinder 201, and connecting axle 203 is connected with slot 107.
A third guide groove 106a is formed in the first end disc 106, and a limit groove 106b is formed in the bottom of the third guide groove 106 a; the first end disc 106 is further provided with a pushing member 108 on one side, the pushing member 108 includes a second end disc 108a, a guide shaft 108b and an end plate 108c, and the end plate 108c is connected with the second end disc 108a through the guide shaft 108 b.
The guide shaft 108b is disposed in the third guide groove 106a, the end plate 108c is disposed in the stopper groove 106b, and the end plate 108c is connected to the bottom of the stopper groove 106b by a first spring 108 d.
The slot 107 is internally provided with a ring groove 107a, the slot 107 is radially provided with a radial groove 107b from the end part, and the radial groove 107b is communicated with the ring groove 107 a; the quick-connect end 100 is further provided with a vent channel 107d communicated with the annular groove 107 a.
A locking groove 107c is formed in the annular groove 107a on a side close to the radial groove 107b, and the locking groove 107c is arranged to be offset from the radial groove 107 b.
A ring plate 107e is arranged in the ring groove 107a, and the ring plate 107e is connected with one side of the ring groove 107a through a second spring 107 f; a seal ring is provided on the ring plate 107e side.
Note that the seal ring faces the side of the radial groove 107 b.
An arc-shaped fixture block 204 is arranged on the outer side of the end part of the connecting shaft 203.
In this embodiment, the quick connection between the quick connection end 100 and the pneumatic claw 200 can be accomplished by the connection of the connection shaft 203 with the slot 107.
Specifically, the arc-shaped fixture block 204 passes through the annular groove 107a of the radial groove 107b to enter the middle and push the annular plate 107e to move the second spring 107f to be compressed, in the process, the end portion of the air cylinder 201 contacts the second end disc 108a and pushes the second end disc 108a to move, the first spring 108d is compressed, the pneumatic claw 200 is rotated, the arc-shaped fixture block 204 corresponds to the position of the clamping groove 107c, and under the action of the second spring 107f, the arc-shaped fixture block 204 is embedded into the clamping groove 107c to achieve connection.
The sealing ring is sealed under the pressing force of the second spring 107f, and the first spring 108d stabilizes the arc-shaped fixture block 204 in the clamping groove 107 c.
Example 2
Referring to fig. 1 to 5, the present embodiment is different from the previous embodiment in that the fixing end 300 includes a fixing plate 301, a connecting member 302 and a locking member 303, and the connecting member 302 and the locking member 303 are embedded in the fixing plate 301;
the fast-connecting end 100, the fast-connecting end 100 include tool tray 101, fixed slot 102 and constant head tank 103, and fixed slot 102 and constant head tank 103 set up in tool tray 101 one side, and connecting piece 302 one end inlays in fixed slot 102, and retaining member 303 one end inlays in constant head tank 103.
It should be noted that the fixed end 300 is fixed to the robot arm by a universal flange, and the quick connect end 100 is connected to a tooling tool.
A first guide groove 301a is formed in the center of one side of the fixed disc 301, and a first placing groove 301b is formed in the bottom of the first guide groove 301 a; the first placing groove 301b is larger in size than the first guide groove 301 a.
It should be noted that the first guide groove 301a has a circular cross section, and preferably, the first placement groove 301b also has a circular cross section, the radius of the first placement groove 301b is larger than that of the first guide groove 301a, and the first placement groove 301b and the first guide groove 301a are overlapped with each other at their center lines.
The connecting member 302 includes a first gear plate 302a and an intermediate shaft 302b, the first gear plate 302a is disposed at one end of the intermediate shaft 302 b; the intermediate shaft 302b is disposed in the first guide groove 301a, and the first gear plate 302a is disposed in the first placement groove 301 b.
It should be noted that the intermediate shaft 302b and the first gear plate 302a are coaxially disposed, and the first gear plate 302a is larger in size than the intermediate shaft 302 b.
The other end of the intermediate shaft 302b is provided with an insertion shaft 302c, and the circumferential surface of the insertion shaft 302c is provided with a screwing groove 302 d.
The depth of the first placing groove 301b is the same as the thickness of the first gear plate 302 a; the length of the intermediate shaft 302b is longer than that of the first guide groove 301 a.
The depth of the first guide groove 301a is the same as the thickness of the first gear plate 302a so that the connecting member 302 is restrained in its axial direction, it being noted that the intermediate shaft 302b is matched with the radial dimension of the first guide groove 301a so that the connecting member 302 is restrained in the radial direction, i.e. the connecting member 302 is restrained to be rotatable only along its axis and not to be movable relative to the fixed plate 301.
The fixing groove 102 is arranged at the center of one side of the tool plate 101, and a precession convex strip 102a is arranged on the inner wall of the fixing groove 102; the precession protrusion 102a and the precession groove 302d are spiral.
It should be noted that the screw-in protrusion 102a and the screw-in groove 302d have the same parameters, i.e. they are matched, and further, the screw-thread parameters of the two are larger than the radius of the plug-in shaft 302c by a certain ratio, so as to convert the axial movement into the circumferential rotation of the connecting member 302.
When the screw-in protrusion 102a enters the screw-in groove 302d, the insertion shaft 302c is pressed into the fixing groove 102, and the insertion shaft 302c and the connection member 302 rotate integrally.
If the holding connector 302 cannot rotate at this time, the fixing plate 301 and the tool plate 101 are connected.
Example 3
Referring to fig. 1 to 6, the difference between the present embodiment and the previous embodiment is that a second guide slot 301c is further disposed on the fixed tray 301, a second placing slot 301d is disposed at the bottom of the second guide slot 301c, and the second placing slot 301d is communicated with the first placing slot 301 b.
The locking piece 303 comprises a second gear wheel disc 303a and a fixed shaft 303b, and the fixed shaft 303b is arranged at one end of the second gear wheel disc 303 a; the second gear wheel disc 303a is arranged on the second placing groove 301d and meshed with the first gear wheel disc 302a, and one end of the second gear wheel disc 303a is provided with a third spring 303c which is connected with the bottom of the second placing groove 301 d.
It should be noted that the length of the second placement groove 301d is greater than the thickness of the second gear wheel 303a, the cross section of the second guide groove 301c is circular with the same size as the cross section of the fixed shaft 303b, and preferably, the cross section of the second placement groove 301d is also circular.
It should be noted that the second gear disc 303a is larger in size than the fixed shaft 303 b; the locking member 303 can rotate on its axis and can also move in the axial direction.
A semi-circular ring platform 301e is arranged in the second placing groove 301d, and a semi-circular ring groove 303d is arranged on one side of the second gear disc 303a where the fixed shaft 303b is located; the semi-circular groove 303d is sized to mate with the semi-circular land 301 e.
A butt joint groove 104 is formed in the opening of the fixing groove 102, and the end of the middle shaft 302b is embedded in the butt joint groove 104; the fixed disk 301 is further provided with an electromagnet 301f, and the end of the second gear disk 303a is provided with a magnetic material.
It should be noted that the third spring 303c tends to push the locker 303 so that the a-face of the second gear plate 303a side contacts the semicircular ring table 301 e.
The abutment slot 104 is sized to mate with the intermediate shaft 302 b.
It should be noted that two second guiding grooves 301c are symmetrically disposed on two sides of the fixing groove 102, the surface a on one side of the second gear wheel disc 303a abuts against the semicircular ring platform 301e in the initial state, the second gear wheel disc 303a is engaged with the first gear wheel disc 302a, at this time, the fixed shaft 303b is aligned with the positioning groove 103, the screwing convex strip 102a corresponds to the end of the screwing groove 302d, the fixed shaft 303b is inserted into the positioning groove 103, the screwing convex strip 102a correspondingly enters the screwing groove 302d and rotates the connecting member 302, then the locking member 303 rotates under gear engagement until the semicircular ring platform 301e completely corresponds to the semicircular ring groove 303d, then under the pushing force of the third spring 303c,
the semicircular ring platform 301e is clamped in the semicircular ring groove 303d, the locking member 303 cannot rotate, and the connecting member 301 cannot be screwed out of the fixing groove 102.
It should be noted that, when the semicircular ring platform 301e is clamped into the semicircular ring groove 303d, the locking member 303 is screwed in place, and this structural feature requires to calculate the crossing angle between the starting point and the end point of the semicircular ring groove 303d on the inserting shaft 302c, for example, in this embodiment, the angle is 180 °, that is, the inserting shaft 302c is completely inserted into the fixing groove 102, the connecting member 301 rotates 180 ° in the whole process, and at the same time, the locking member 303 also rotates a certain angle correspondingly, and after the locking member 303 rotates the certain angle, the position of the semicircular ring platform 301e exactly corresponds to the position of the semicircular ring groove 303d, and then the connection is completed.
When the tool plate needs to be detached, the electromagnet 301f is turned on, the locking member 303 is attracted to move along the axial direction, specifically, the third spring 303c is compressed, the semicircular groove 303d leaves the semicircular platform 301e, the inserting shaft 302c rotates in the process that the fixing disc 301 and the tool disc 101 are separated and the inserting shaft 302c is pulled out of the fixing groove 102, the locking member 303 rotates, and the surface a on the second gear disc 303a abuts against the semicircular platform 301 e.
The third spring 303c has a certain torsion, which also ensures that the locking member 303 will not rotate freely, thereby preventing the positions of the screwing protrusion 102a and the screwing groove 302d from being different in the initial state.
It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.
Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not have been described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).
It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (1)
1. An industrial robot pneumatic manipulator which characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the quick connection end (100) comprises a tool disc (101), an extension shaft (105) and a first end disc (106), the extension shaft (105) is arranged on one side of the tool disc (101), the first end disc (106) is arranged at the end part of the extension shaft (105), a slot (107) is arranged on the quick connection end (100) from one side of the first end disc (106), and the slot (107) extends into the extension shaft (105);
the pneumatic claw (200) comprises an air cylinder (201), a clamping jaw (202) and a connecting shaft (203), the clamping jaw (202) and the connecting shaft (203) are respectively arranged at two ends of the air cylinder (201), and the connecting shaft (203) is connected with the slot (107);
a third guide groove (106 a) is formed in the first end disc (106), and a limiting groove (106 b) is formed in the bottom of the third guide groove (106 a);
a pushing piece (108) is further arranged on one side of the first end disc (106), the pushing piece (108) comprises a second end disc (108 a), a guide shaft (108 b) and an end plate (108 c), and the end plate (108 c) is connected with the second end disc (108 a) through the guide shaft (108 b);
the guide shaft (108 b) is arranged in the third guide groove (106 a), the end plate (108 c) is arranged in the limiting groove (106 b), and the end plate (108 c) is connected with the bottom of the limiting groove (106 b) through a first spring (108 d);
the insertion groove (107) is internally provided with an annular groove (107 a), the insertion groove (107) is radially provided with a radial groove (107 b) from the end part, and the radial groove (107 b) is communicated with the annular groove (107 a);
the quick-connecting end (100) is also provided with a vent passage (107 d) communicated with the annular groove (107 a);
a clamping groove (107 c) is formed in one side, close to the radial groove (107 b), of the annular groove (107 a), and the clamping groove (107 c) and the radial groove (107 b) are arranged in a staggered mode;
a ring plate (107 e) is arranged in the ring groove (107 a), and the ring plate (107 e) is connected with one side of the ring groove (107 a) through a second spring (107 f);
a sealing ring is arranged on one side of the ring plate (107 e);
an arc-shaped fixture block (204) is arranged on the outer side of the end part of the connecting shaft (203);
the fixing end (300) comprises a fixing disc (301), a connecting piece (302) and a locking piece (303), and the connecting piece (302) and the locking piece (303) are embedded in the fixing disc (301);
a first guide groove (301 a) is formed in the center of one side of the fixed disc (301), and a first placing groove (301 b) is formed in the bottom of the first guide groove (301 a);
the first placing groove (301 b) is larger in size than the first guide groove (301 a);
the connecting piece (302) comprises a first gear disc (302 a) and an intermediate shaft (302 b), wherein the first gear disc (302 a) is arranged at one end of the intermediate shaft (302 b);
the intermediate shaft (302 b) is arranged in the first guide slot (301 a), and the first gear plate (302 a) is arranged in the first placement slot (301 b);
the other end of the intermediate shaft (302 b) is provided with an insertion shaft (302 c), and the circumferential surface of the insertion shaft (302 c) is provided with a precession groove (302 d);
the fixed disc (301) is also provided with a second guide groove (301 c), the bottom of the second guide groove (301 c) is provided with a second placing groove (301 d), and the second placing groove (301 d) is communicated with the first placing groove (301 b);
the locking piece (303) comprises a second gear wheel disc (303 a) and a fixed shaft (303 b), and the fixed shaft (303 b) is arranged at one end of the second gear wheel disc (303 a); the second gear wheel disc (303 a) is arranged in the second placing groove (301 d) and meshed with the first gear wheel disc (302 a), and a (c) third spring (303 c) is arranged at one end of the second gear wheel disc (303 a) and connected with the bottom of the second placing groove (301 d);
a semi-circular ring table (301 e) is arranged in the second placing groove (301 d), and a semi-circular ring groove (303 d) is arranged on one side, where the fixed shaft (303 b) is located, of the second gear wheel disc (303 a); the semi-circular groove (303 d) is matched with the semi-circular platform (301 e) in size;
the opening of the fixing groove (102) is provided with a butt joint groove (104), and the end part of the intermediate shaft (302 b) is embedded in the butt joint groove (104); an electromagnet (301 f) is further arranged in the fixed disc (301), and a magnetic material is arranged at the end part of the second gear disc (303 a).
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