CN115741759A - Omnidirectional pneumatic grabbing barrel - Google Patents

Abstract

The invention discloses an omnidirectional pneumatic grabbing barrel which comprises an upper steering system and a lower grabbing barrel, wherein the steering system consists of a steering ring, a steering frame, a motor on the steering frame and a gear on the motor, the steering ring is fixedly connected with the steering frame, the steering ring and the steering frame are obliquely arranged, the steering ring consists of an inner ring and an outer ring, a first steering ring of the steering system is connected with a steering connecting disc of the grabbing barrel, the grabbing barrel consists of a steering connecting disc, a first grabbing ring, a second grabbing ring and a third grabbing ring which are connected through a pneumatic telescopic rod, and air bags (comprising a base air bag and an adsorption air bag) are placed in the grabbing rings. The invention inflates the air bag to enable the air bag to expand and generate friction force with the grabbing surface of the grabbed object. For close contact, the surface is sucked and sucked by a vacuum chuck on the air bag. The invention can grab objects with irregular shapes or smooth surfaces, ensures the stability and safety of the grabbed objects in the moving process, and has wide application range.

Description

Omnidirectional pneumatic grabbing barrel

Technical Field

The invention relates to a grabbing hand, in particular to an omnidirectional pneumatic grabbing barrel.

Background

Along with the improvement of enterprise's processing production degree of automation, the application of robot is more and more wide, and the tongs demand for the robot is bigger and bigger, and the scene of being used is also more and more diversified, so also more and more high to the requirement of grabbing the hand.

For expensive fragile and irregular smooth materials, the physical grasping of the traditional grasping hand can cause damage to the articles due to the rigid contact of the traditional grasping hand, and the objects with irregular shapes and smooth surfaces are not easy to grasp. The pneumatic grabbing barrel has great advantages for grabbing expensive, fragile and irregular smooth materials, firstly, when the materials are grabbed, the loaded soft air bag structure can wrap the materials in all directions to play a good protection role, and secondly, when the materials are grabbed, the air bag can deform to fit the materials to form a certain grabbing force; and then the suction disc sucks air to enable the suction disc to be tightly adsorbed on the surface of an object to form a certain adsorption force, and finally smooth or irregular material grabbing is realized.

The steering of the traditional mechanical arm is usually realized by using a connecting rod and a steering motor, the steering freedom degree is limited, the steering is realized by matching a plurality of connecting rods, certain requirements are required on the volume of a space, and a steering dead zone is easy to occur during rotation. The steering system can realize steering at more angles in a small space through the matching of the steering ring and the steering frame, thereby greatly widening the grabbing range of the grabbing barrel, enabling the grabbing barrel to flexibly deal with various grabbing tasks and greatly improving the grabbing efficiency. And compared with a multi-connecting rod and a steering motor which are made of alloy, the steering system is lower in manufacturing cost and has cost advantage.

Disclosure of Invention

The invention provides an omnidirectional pneumatic grabbing barrel, aiming at the technical problems that a traditional grabbing hand is poor in grabbing irregular smooth objects and fragile objects, and large space and dead zones exist in steering of a traditional mechanical arm.

The technical scheme of the invention is as follows:

the utility model provides a bucket is snatched in full direction pneumatics, includes the steering system on upper portion and the snatching bucket of lower part, steering system comprises motor and the gear on the motor on steering ring, bogie, the steering ring with bogie fixed connection, just the steering ring with the bogie all is the slope setting, the steering ring comprises inner ring and outer loop, snatch the bucket and snatch ring, second by turning to the connection pad and first snatching the ring, the third snatchs the ring and is formed by connecting pneumatic telescopic link, snatch the inside gasbag of placing of ring, the gasbag divide into basement gasbag and adsorbs two parts of gasbag, steering system's first steering ring is connected with the connection pad that turns to that snatchs the bucket.

Furthermore, the pneumatic telescopic rod is formed by connecting a first cylinder, a second cylinder and a third cylinder which are 3 air saving cylinders, air holes are formed in the upper portion and the lower portion of the first cylinder, air holes are formed in the upper portion of the second cylinder, and the air holes comprise air suction holes and air exhaust holes.

Furthermore, a motor is arranged on the bogie, and an internal gear is arranged on an inner ring of the steering ring and meshed with a gear on the motor.

Furthermore, the air bag is connected with an air duct, the air duct is connected with the base air bag through an inflation tube, and the air suction tube is connected with the adsorption air bag.

Furthermore, a pressure limiting valve is arranged between the connection part of the base airbag and the inflation tube.

Furthermore, a plurality of small holes are formed in the surface of the adsorption air bag, and a vacuum chuck is arranged on the adsorption air bag.

Furthermore, the steering ring comprises a first steering ring, a second steering ring, a third steering ring and a fourth steering ring from bottom to top, and the first steering ring is connected with the steering connecting disc.

Further, the bogie comprises a first bogie, a second bogie, a third bogie and a fourth bogie from bottom to top.

Further, when the pneumatic telescopic rod does not extend under the normal state of the grabbing barrel, the lower air hole of the first air cylinder is not communicated with the air hole of the second air cylinder; when the pneumatic telescopic rod extends, the air hole below the first air cylinder is communicated with the air hole of the second air cylinder.

Further, the air bag is made of a flexible material having elasticity or a flexible material capable of adsorbing a rough surface.

During the use, the vacuum pump is connected pneumatic telescopic link, is rotated the bucket to the object top with whole grabbing by the steering ring, then inflates pneumatic telescopic link inflation hole and makes its extension, makes the steering ring can be inside the object frame, with basement gasbag, absorption gasbag and vacuum pump connection. When an object is grabbed, the substrate air bag is inflated to expand the substrate air bag, so that the vacuum sucker on the adsorption air bag is pressed on the surface of the object, the vacuum sucker is extruded to be tightly attached to the flat surface of the object, then the vacuum sucker is vacuumized by the working of the vacuum pump, and the vacuum sucker is in a vacuum state and firmly grabbed. When an object needs to be put down, the steering ring rotates to enable the bottom surface of the object to contact with the placing surface, the vacuum pump inflates the adsorption air bag, the base air bag inhales air, the object is automatically separated from the grabbing barrel, and the vacuum machine connected with the pneumatic telescopic rod evacuates air to enable the grabbing ring to be retracted.

When an object or an irregular object without a flat surface is grabbed, the base air bag is inflated to enable the adsorption air bag to extrude the object, the base air bag is extruded to be inwards sunken to form a sunken part matched with the shape of the object, at the moment, the base air bag partially wraps the object, then the adsorption air bag is vacuumized by the operation of a vacuum pump, the flexible filler in the air bag tightens up the object to be squeezed, the object is grabbed by pressure, the base air bag keeps the current shape of wrapping the object to be squeezed when in a vacuum state, and a vacuum sucker in contact with the object is in a vacuum state to adsorb the object to complete grabbing of the object. When an object needs to be put down, the vacuum pump sucks air into the base air bag, the base air bag recovers to the original state, the adsorption air bag is inflated to recover to the normal state, and the object automatically breaks away from the omnidirectional pneumatic grabbing barrel.

The invention has the beneficial effects that:

the omnidirectional pneumatic grabbing barrel can grab various objects with different shapes or irregular shapes, has wide application range, and has great applicability to objects with precise surfaces, easy damage and difficult force application because the air bag and the vacuum sucker which are contacted with the objects are made of soft materials.

Drawings

FIG. 1 is a schematic of one embodiment of the present invention;

FIG. 2 is a schematic view of the construction of the grab bucket;

FIG. 3 is a schematic view of the pneumatic telescopic rod in an extended state;

FIG. 4 is a schematic view of the construction of the bladder;

FIG. 5 is a schematic structural view of a steering system;

FIG. 6 is a schematic view of the structure of the steering ring;

FIGS. 7 and 8 are schematic views of the rotation angle of the steering ring and the specific rotation position thereof;

fig. 9 is a schematic view of an omnidirectional pneumatic grabbing bucket grabbing an irregular object.

In the figure: 1. a steering system, 2, a grabbing barrel, 3, an air bag, 4, a steering ring, 5, a bogie, 6, a motor gear, 7, a grabbing ring, 8, a pneumatic telescopic rod, 9, an air guide pipe, 31, an adsorption air bag, 32, a base air bag, 41, a first steering ring, 42, a second steering ring, 43, a third steering ring, 44, a fourth steering ring, 51, a first steering frame, 52, a second steering frame, 53, a third steering frame, 54, a fourth steering frame, 71, a steering connecting disc, 72, a first grabbing ring, 73, a second grabbing ring, 74, a third grabbing ring, 81, a first air cylinder, 82, a second air cylinder, 83, a third air cylinder, 84, an air suction hole, 85 and an air exhaust hole.

Detailed Description

As shown in figures 1 and 3, the main body grabbing part of the invention is formed by connecting a steering connecting disc and three grabbing rings (2 and 7 in figure 1) with concave cross sections through four telescopic rods (8 in figure 1). Each circle of the ring is provided with a gap for placing the air bag (2 in figure 1 and 3 in figure 2). The air bag has the characteristic of being capable of stretching, so the air bag can be also called as a telescopic air bag. The expansion airbag is in a convex shape when inflated (fig. 3), and the airbag 3 is divided into two parts, namely a base airbag 32 (main body base part) and an adsorption airbag 31 (auxiliary adsorption part) by functions. When the inflatable tube of the telescopic airbag is inflated, the base airbag 32 connected with the inflatable tube begins to expand due to the inflation of the inflatable tube, the largest part of the telescopic airbag does not move along with the inflation of the airbag due to the limitation of the circular iron ring in the expansion process, but the airbag part in the middle of the telescopic airbag is extruded out from the reserved gap of the circular iron ring, and the size of a grabbing space in the grabbing barrel can be reduced in the extrusion process of the telescopic airbag. When the volume of the grabbing space in the grabbing barrel is gradually reduced until the size is smaller than that of the object to be grabbed, the telescopic air bag is in surface contact with the surface of the object to be grabbed to generate friction force, and the object grabbing effect is achieved. The suction bag 31 is connected to the suction pipe. When the suction pipe connected to the vacuum pump sucks air, the other end of the suction pipe is connected to the suction bag 31, so that the vacuum chuck on the surface of the protruding portion of the suction bag 31 generates suction force. Thereby make the protruding portion in the middle of the flexible gasbag contact with the object when flexible gasbag inflation, vacuum chuck on the contact surface just can be because the adsorption affinity that produces on the vacuum chuck adsorbs and is snatched the object surface to reach the purpose of increase adsorption affinity, the frictional force that flexible gasbag inflation produced and the adsorption affinity combined operation that the vacuum chuck contact produced, increase the stability of product.

The connection mode of the grabbing rings 7 (circular iron rings) adopts a telescopic rod type design and is connected through four pneumatic telescopic rods 8 which can be controlled and stretched by the outside. Pneumatic telescopic rod 8 and vacuum pump connection, pneumatic telescopic rod 8 is flexible through the mode control of atmospheric pressure to the various different scenes of snatching of reply. When the object to be grabbed is short, the telescopic rod can be controlled to contract synchronously, three circular iron rings with air bags arranged inside are abutted into a whole, the grabbing force of the pneumatic grabbing barrel during working tends to be concentrated, and the object can be grabbed better. In a similar way, when snatching higher object, four telescopic links extend in step, make three circular hoop keep away from, evenly distributed is on snatching the object, and in, three position down, furthest guarantees the stability of snatching the object to reach better snatching adsorption efficiency.

A pressure limiting valve is arranged between the connection part of the base airbag and the inflation tube and is suitable for grabbing irregular objects. When the grabbing barrel grabs a series of irregular objects similar to gourd-shaped models or other types, the grabbing diameter of each section of telescopic air bag is unstable due to the objects, the telescopic air bags are uniformly distributed on the grabbing barrel from top to bottom, the telescopic amount of each section of telescopic air bag is different and can be difficultly avoided, air pressure in each section of telescopic air bag is uneven, local clamping force of a certain section of telescopic air bag is overlarge due to overlarge air pressure, and fragile grabbed objects are easily damaged. While a pressure limiting valve can solve this problem well. The grabbing force of the telescopic air bag has a strong linear relation with the air pressure in the telescopic air bag, namely the grabbing force of the telescopic air bag is larger when the air pressure is larger. With the pressure limiting valve, when a certain section of the telescopic air bag is contacted with an object and continuously generates grabbing force, the air pressure in the telescopic air bag is continuously increased. When the air pressure in the telescopic air bag reaches a preset threshold value of the pressure limiting valve, the pressure limiting valve connected with the inflation tube is closed, so that the inflation tube stops inflating, and the problem that the grabbed object is damaged due to the fact that the air pressure in the telescopic air bag is too high is solved.

The steering device at the upper part of the grabbing barrel consists of four steering rings, namely a first steering ring 41, a second steering ring 42, a third steering ring 43, a fourth steering ring 44, a first steering frame 51, a second steering frame 52, a third steering frame 53, a fourth steering frame 54 and a motor on each steering frame from bottom to top. The first steering ring 41 is connected to the steering interface disc and the fourth steering ring 44 is connected to an external mechanical platform. When a specific grabbing angle is required for grabbing the bucket, fig. 4 is set to the default state. The motor on each steering frame can rotate according to a program set by an external circuit, so that a gear connected with the motor is driven to rotate, and each steering ring is driven to rotate. Due to the existence of the bogie which is fixedly connected with the steering ring, the grabbing requirements of presenting different angles can be met under the condition that each section of motor drives the steering ring to be combined.

When the motor on the third bogie 53 drives the third steering ring 43 to rotate 180 degrees, the angle state shown in fig. 5 is achieved;

when the motors on the second bogie 52 and the third bogie 53 drive the second steering ring 42 and the third steering ring 43 rotates 180 degrees, the angle state shown in fig. 6 is achieved;

when the motor on the first steering frame 51 drives the first steering ring 41 to rotate at any angle, the grabbing barrel can be driven to rotate integrally;

when the motor on the fourth bogie 54 drives the fourth steering ring 44 to rotate 180 degrees, the grabbing barrel can be driven to rotate integrally together with the steering device.

In the operation mode of the traditional mechanical arm, the rotating shaft at the joint rotates and the motor controls the angle at the joint of the mechanical arm, so that different working forms are achieved. The steering device applied by the invention fixes the angle through the steering frame, and achieves the purpose of steering through the mutual combination of the rotation of the motor at the steering ring and the angle of the steering frame, although the steering amplitude may be limited by the structure to a certain extent, the space required by steering can be greatly reduced in a production workshop with small size, which is an incomparable advantage compared with the structure of the traditional mechanical arm.

Claims (10)

1. The utility model provides a bucket is snatched in omnidirectional pneumatics, its characterized in that, the bucket of snatching of the steering system and lower part including upper portion, steering system comprises motor and the gear on the motor on steering ring, bogie, the steering ring with bogie fixed connection, just the steering ring with the bogie all is the slope setting, the steering ring comprises inner ring and outer loop, snatch the bucket and snatch ring, second by turning to the connection pad and first snatching ring, third and snatch the ring and be formed by connecting pneumatic telescopic link, snatch the inside gasbag of placing of ring, the gasbag divide into basement gasbag and two parts of absorption gasbag, steering system's first steering ring is connected with the connection pad that turns to of snatching the bucket.

2. The omnidirectional pneumatic grabbing barrel according to claim 1, wherein the pneumatic telescopic rod is formed by connecting a first cylinder, a second cylinder and a third cylinder by 3 air saving cylinders, air holes are formed in the upper portion and the lower portion of the first cylinder, air holes are formed in the upper portion of the second cylinder, and the air holes comprise an air suction hole and an air exhaust hole.

3. The omnidirectional pneumatic grabbing barrel of claim 1, wherein the motor is arranged on the bogie, and an internal gear is arranged on an inner ring of the steering ring and meshed with a gear on the motor.

4. The omnidirectional pneumatic grabbing barrel of claim 1, wherein the air bag is connected with an air duct, the air duct is connected with the base air bag through an inflation tube, and the air suction tube is connected with the adsorption air bag.

5. The omnidirectional pneumatic grabbing barrel of claim 4, wherein a pressure limiting valve is further arranged between the connection part of the base airbag and the inflation tube.

6. The omnidirectional pneumatic grabbing barrel of claim 1, wherein the base air bag and the suction air bag are provided with a plurality of small holes on the surface, and the suction air bag is provided with a vacuum chuck.

7. The omnidirectional pneumatic grabbing bucket according to claim 1, wherein the steering ring comprises a first steering ring, a second steering ring, a third steering ring and a fourth steering ring from bottom to top, and the first steering ring is connected with a steering connecting disc.

8. The omnidirectional pneumatic grab bucket of claim 1, wherein the trucks include a first truck, a second truck, a third truck, and a fourth truck from bottom to top.

9. The omnidirectional pneumatic grabbing barrel of claim 1, wherein when the pneumatic telescopic rod does not extend in a normal state of the grabbing barrel, the air hole of the second air cylinder is not communicated with the air hole of the third air cylinder; when the pneumatic telescopic rod extends, the air hole in the second air cylinder is communicated with the air hole in the third air cylinder.

10. The all direction pneumatic grab bucket of claim 1, wherein the bladder is made of a flexible material having elasticity or a flexible material capable of adsorbing rough surfaces.

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