CN204471390U - The terminal device of automatic loading/unloading Pneumatic manipulator - Google Patents
The terminal device of automatic loading/unloading Pneumatic manipulator Download PDFInfo
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- CN204471390U CN204471390U CN201420826304.9U CN201420826304U CN204471390U CN 204471390 U CN204471390 U CN 204471390U CN 201420826304 U CN201420826304 U CN 201420826304U CN 204471390 U CN204471390 U CN 204471390U
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- manipulator
- matrix
- terminal device
- automatic loading
- moving body
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Abstract
The terminal device of automatic loading/unloading Pneumatic manipulator, it is constructed as follows: manipulator matrix (1), air rammer (2), central shaft (3), moving body (4), rear end substrate (8); Wherein: in the tubular intracavity of manipulator matrix (1), be furnished with air rammer (2); The rear portion of manipulator matrix (1) tubular intracavity is provided with rear end substrate (8); It is equal with the distance of manipulator matrix (1) axis and can at the radial action of tubular mechanical hand matrix (1) that 2-8 to be arranged on moving body (4) in slideway; Central shaft (3) is fixed on the front end face center of air rammer (2) and stretches out forward; Central shaft (3) front end is ramp structure, central shaft (3) can 5 moving bodys (4) contacted with it by movable drive to away from axis direction separately or close up.The utility model cost performance is high, clean environment firendly, and structure is simple, and of many uses, it has expected comparatively huge economic worth and social value.
Description
Technical field
The utility model relates to structural design and the applied technical field of automatic loading/unloading manipulator, specifically provides a kind of terminal device of automatic loading/unloading Pneumatic manipulator.
Background technology
Manipulator is some holding function imitating staff and arm, in order to capture, to carry the automatic pilot of object or operation tool by fixed routine.Manipulator is the industrial robot occurred the earliest; also be the modern machines people occurred the earliest; it can replace the heavy labor of people to realize mechanization and the automation of production; can operate to protect personal safety under hostile environment, thus be widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Conventional assembling clamping manipulator hand structure is varied, but is motor drive operational mostly, and minority is hydraulic-driven even air pressure driving.But structure is all more complicated, cost performance is not high.People expect to obtain the better automatic loading/unloading Pneumatic manipulator of a kind of technique effect, the especially hand of manipulator.
Utility model content
The purpose of this utility model is to provide the terminal device of the better automatic loading/unloading Pneumatic manipulator of a kind of technique effect.
The terminal device of a kind of automatic loading/unloading Pneumatic manipulator of the utility model, its fixed and arranged uses as piece-holder portion on the arm of industrial robot; It is characterized in that: the terminal device of described automatic loading/unloading Pneumatic manipulator is specifically constructed as follows: manipulator matrix 1, air rammer 2, central shaft 3, moving body 4, rear end substrate 8; Wherein: manipulator matrix 1 is for having the structural member of tubular intracavity; Be furnished with air rammer 2 in its inner chamber, be respectively arranged with the injecting hole 101 for moving ahead to injecting gas in air rammer 2 front or rear chamber to promote air rammer 2 or retreat at the front and rear of manipulator matrix 1 sidewall; The rear portion of manipulator matrix 1 tubular intracavity is provided with the rear end substrate 8 for shutoff tubular intracavity;
Moving body 4 is 2-8, and it is equal with the distance of manipulator matrix 1 axis and can at the radial action of tubular mechanical hand matrix 1; Moving body 4 is arranged in the radial slideway on manipulator matrix 1; Moving body 4 is provided with the finger mounted hole 41 that the clamping for installation manipulator is pointed;
Central shaft 3 is fixed on the front end face center of air rammer 2 and stretches out forward; Central shaft 3 front end is ramp structure (can be cone structure), central shaft 3 can 5 moving bodys 4 contacted with it by movable drive to away from axis direction separately or close up.
The terminal device of described automatic loading/unloading Pneumatic manipulator, also claimed following content:
Also be provided with in the terminal device of described automatic loading/unloading Pneumatic manipulator for detecting whether air rammer 2 is mobile forward or backward arrives the positional detecting device 11 limiting position, positional detecting device 11 is specially two.Be used for detecting front and back restraining position respectively whether to put in place.
Also be provided with in the terminal device of described automatic loading/unloading Pneumatic manipulator for seal 10, it is specifically arranged in following two positions, place: manipulator matrix 1 coordinates on installed surface with rear end substrate 8; In the sliding friction surface that air rammer 2 coordinates with manipulator matrix 1.
Following structure is also provided with: joint pin 5, vibration damper plate 6, front end baffle 7, flexible member 9 in the terminal device of described automatic loading/unloading Pneumatic manipulator; Wherein: front end baffle 7 is arranged in manipulator matrix 1 front end for the radial slideway intersection being furnished with moving body 4 on shutoff protection manipulator matrix 1;
For to contact by holding workpiece and the vibration damper plate 6 that can play cushioning effect is connected to manipulator matrix 1 by joint pin 5, and vibration damper plate 6 is arranged in the side of front end baffle 7 away from manipulator matrix 1;
Flexible member 9 is arranged between vibration damper plate 6 and front end baffle 7.
The terminal device of described automatic loading/unloading Pneumatic manipulator, preferably meets following requirement:
In the terminal device of described automatic loading/unloading Pneumatic manipulator, moving body 4 is 3, and it is equal with the distance of manipulator matrix 1 axis and can at the radial synchronization action of tubular mechanical hand matrix 1;
Front end baffle 7 is three-pawl type structure, 3 the radial slideways be uniformly distributed along the circumference of moving body 4 respectively shutoff manipulator matrix 1 arranged and the intersection of three;
Each moving body 4 is provided with 2-3 the finger mounted hole 41 pointed for the clamping of installation manipulator; Installing hole 41 axis being parallel is in the axis direction of manipulator matrix 1.
Another preferred orientations: in the terminal device of described automatic loading/unloading Pneumatic manipulator, moving body 4 is 2, and it is equal with the distance of manipulator matrix 1 axis and can at the radial synchronization action of tubular mechanical hand matrix 1; Each moving body 4 is provided with 2-6 the finger mounted hole 41 pointed for the clamping of installation manipulator; Installing hole 41 axis being parallel is in the axis direction of manipulator matrix 1.
In the terminal device of described automatic loading/unloading Pneumatic manipulator, the concrete thing travel switch of positional detecting device 11 or position detecting sensor.
The utility model uses pneumatic control to drive working method, electric drive and the hydraulic-driven etc. of comparing working method in the hand design of automatic loading/unloading manipulator, and it obviously has higher cost performance, and clean environment firendly, structure is comparatively simple.Can be widely used in the fields such as mechanical industry, food or medicine processing and packing, it has expected comparatively huge economic worth and social value.
Accompanying drawing explanation
Below in conjunction with drawings and the embodiments, the utility model is described in further detail:
Fig. 1 is one of terminal device principle of compositionality simplified schematic diagram of automatic loading/unloading Pneumatic manipulator;
Fig. 2 is the terminal device principle of compositionality simplified schematic diagram two of automatic loading/unloading Pneumatic manipulator;
Fig. 3 is the terminal device principle of compositionality simplified schematic diagram exterior contour figure of automatic loading/unloading Pneumatic manipulator;
Fig. 4 is front view with Fig. 1 and the right view corresponding with it;
Fig. 5 is the figure take away front end baffle 7 on Fig. 4 basis after;
Fig. 6 is manipulator matrix 1 part drawing front view;
Fig. 7 is the right view of Fig. 6, and its visual angle is identical with Fig. 5;
Fig. 8 is the right view of Fig. 9;
Fig. 9 is air rammer 2 front view;
Axle 3 front view centered by Figure 10;
Figure 11 is the right view of Figure 10;
Figure 12 is the top view of Figure 15;
Figure 13 is the left-hand view of Figure 12;
Figure 14 is the right view of Figure 15;
Figure 15 is the front view of moving body 4;
Figure 16 is the left view of Figure 15;
Figure 17 is joint pin 5 front view;
Figure 18 is the left view of Figure 17;
Figure 19 is the right view of Figure 20;
Figure 20 is the front view of vibration damper plate 6;
Figure 21 is the right view of Figure 22;
Figure 22 is the front view of front end baffle 7;
Figure 23 is the front view of rear end substrate 8;
Figure 24 is the right view of Figure 23;
Figure 25 is the overall structure principle simplified schematic diagram of embodiment 2;
The top view of Figure 26 Figure 25.
Detailed description of the invention
Reference numeral implication and figures support combinations:
Manipulator matrix 1, air rammer 2, central shaft 3, moving body 4, joint pin 5, vibration damper plate 6, front end baffle 7, rear end substrate 8, flexible member 9 (only drawing local does not in the drawings draw complete), seal 10, positional detecting device 11, finger mounted hole 41, injecting hole 101.
In Fig. 1, following parts broken section omission hatching does not draw: manipulator matrix 1, air rammer 2, central shaft 3, moving body 4, vibration damper plate 6, front end baffle 7, rear end substrate 8, flexible member 9; Fig. 1 is that air rammer 2 and central shaft 3 are all retracted near substrate 8 place, rear end, and moving body 4 is near the corresponding figure at manipulator matrix 1 axis place;
Same Fig. 1 of situation of hatching is omitted in Fig. 2; Fig. 2 is that air rammer 2 and central shaft 3 all reach away from rear end substrate 8 place and close front end baffle 7, and moving body 4 is away from the corresponding figure at manipulator matrix 1 axis place;
The situation of Figure 25, Figure 25 main omission hatching and Fig. 1,2 similar;
In Fig. 3, following parts broken section omission hatching does not draw: manipulator matrix 1, moving body 4, vibration damper plate 6, flexible member 9, positional detecting device 11;
The visual angle of Fig. 7 is identical with Fig. 5;
Figure 13 is the left side runner portions partial structurtes schematic diagram of corresponding Figure 15;
In addition, in following figure, broken section omission hatching does not draw: Fig. 9, Figure 12, Figure 13, Figure 15, Figure 23.
Embodiment 1
A kind of terminal device (see accompanying drawing 1-24) of automatic loading/unloading Pneumatic manipulator; Its fixed and arranged uses as piece-holder portion on the arm of industrial robot; The terminal device of described automatic loading/unloading Pneumatic manipulator is specifically constructed as follows: manipulator matrix 1, air rammer 2, central shaft 3, moving body 4, joint pin 5, vibration damper plate 6, front end baffle 7, rear end substrate 8, flexible member 9, seal 10, positional detecting device 11; Wherein: manipulator matrix 1 is for having the structural member of tubular intracavity; Be furnished with air rammer 2 in its inner chamber, be respectively arranged with the injecting hole 101 for moving ahead to injecting gas in air rammer 2 front or rear chamber to promote air rammer 2 or retreat at the front and rear of manipulator matrix 1 sidewall; The rear portion of manipulator matrix 1 tubular intracavity is provided with the rear end substrate 8 for shutoff tubular intracavity;
Moving body 4 is 3, and it is equal with the distance of manipulator matrix 1 axis and can at the radial action of tubular mechanical hand matrix 1; Moving body 4 is arranged in the radial slideway on manipulator matrix 1; Moving body 4 is provided with the finger mounted hole 41 that the clamping for installation manipulator is pointed;
Central shaft 3 is fixed on the front end face center of air rammer 2 and stretches out forward; Central shaft 3 front end is cone structure, central shaft 3 can 5 moving bodys 4 contacted with it by movable drive to away from axis direction separately or close up.
Also be provided with in the terminal device of described automatic loading/unloading Pneumatic manipulator for detecting whether air rammer 2 is mobile forward or backward arrives the positional detecting device 11 limiting position, positional detecting device 11 is specially two.Be used for detecting front and back restraining position respectively whether to put in place.
Also be provided with in the terminal device of described automatic loading/unloading Pneumatic manipulator for seal 10, it is specifically arranged in following two positions, place: manipulator matrix 1 coordinates on installed surface with rear end substrate 8; In the sliding friction surface that air rammer 2 coordinates with manipulator matrix 1.
Following structure is also provided with: joint pin 5, vibration damper plate 6, front end baffle 7, flexible member 9 in the terminal device of described automatic loading/unloading Pneumatic manipulator; Wherein: front end baffle 7 is arranged in manipulator matrix 1 front end for the radial slideway intersection being furnished with moving body 4 on shutoff protection manipulator matrix 1;
For to contact by holding workpiece and the vibration damper plate 6 that can play cushioning effect is connected to manipulator matrix 1 by joint pin 5, and vibration damper plate 6 is arranged in the side of front end baffle 7 away from manipulator matrix 1;
Flexible member 9 is arranged between vibration damper plate 6 and front end baffle 7.
In the terminal device of described automatic loading/unloading Pneumatic manipulator, moving body 4 is 3, and it is equal with the distance of manipulator matrix 1 axis and can at the radial synchronization action of tubular mechanical hand matrix 1;
Front end baffle 7 is three-pawl type structure, 3 the radial slideways be uniformly distributed along the circumference of moving body 4 respectively shutoff manipulator matrix 1 arranged and the intersection of three;
Each moving body 4 is provided with 2-3 the finger mounted hole 41 pointed for the clamping of installation manipulator; Installing hole 41 axis being parallel is in the axis direction of manipulator matrix 1.
In the terminal device of described automatic loading/unloading Pneumatic manipulator, the concrete thing travel switch of positional detecting device 11 or position detecting sensor.
The present embodiment uses pneumatic control to drive working method, electric drive and the hydraulic-driven etc. of comparing working method in the hand design of automatic loading/unloading manipulator, and it obviously has higher cost performance, and clean environment firendly, structure is comparatively simple.Can be widely used in the fields such as mechanical industry, food or medicine processing and packing, it has expected comparatively huge economic worth and social value.
Embodiment 2
The present embodiment is substantially identical with embodiment 1 content, its difference mainly:
See accompanying drawing 25-26, and Fig. 1-2 4 correspondence contrasting similar embodiment is understood; In the terminal device of described automatic loading/unloading Pneumatic manipulator, moving body 4 is 2, and it is equal with the distance of manipulator matrix 1 axis and can at the radial synchronization action of tubular mechanical hand matrix 1; Each moving body 4 is provided with 2-6 the finger mounted hole 41 pointed for the clamping of installation manipulator; Installing hole 41 axis being parallel is in the axis direction of manipulator matrix 1.
Central shaft 3 is fixed on the front end face center of air rammer 2 and stretches out forward; Central shaft 3 front end is ramp structure (respectively corresponding 2 moving bodys form two place's clinoplain structures), central shaft 3 can 5 moving bodys 4 contacted with it by movable drive to away from axis direction separately or close up.
Embodiment 3
The present embodiment is substantially identical with embodiment 1 content, its difference mainly:
Moving body 4 is 8, and it is equal with the distance of manipulator matrix 1 axis and can at the radial action of tubular mechanical hand matrix 1; Moving body 4 is arranged in the radial slideway on manipulator matrix 1; Moving body 4 is provided with the finger mounted hole 41 that the clamping for installation manipulator is pointed;
Central shaft 3 is fixed on the front end face center of air rammer 2 and stretches out forward; Central shaft 3 front end is the conical surface or the pyramidal structure with multiple inclined-plane, central shaft 3 can 5 moving bodys 4 contacted with it by movable drive to away from axis direction separately or close up.
Claims (7)
1. the terminal device of automatic loading/unloading Pneumatic manipulator, its fixed and arranged uses as piece-holder portion on the arm of industrial robot; It is characterized in that: the terminal device of described automatic loading/unloading Pneumatic manipulator is specifically constructed as follows: manipulator matrix (1), air rammer (2), central shaft (3), moving body (4), rear end substrate (8); Wherein: manipulator matrix (1) is for having the structural member of tubular intracavity; Be furnished with air rammer (2) in its inner chamber, be respectively arranged with the injecting hole (101) for moving ahead to injecting gas in air rammer (2) front or rear chamber to promote air rammer (2) or retreat at the front and rear of manipulator matrix (1) sidewall; The rear portion of manipulator matrix (1) tubular intracavity is provided with the rear end substrate (8) for shutoff tubular intracavity;
Moving body (4) is 2-8, and it is equal with the distance of manipulator matrix (1) axis and can at the radial action of tubular mechanical hand matrix (1); Moving body (4) is arranged in the radial slideway on manipulator matrix (1); Moving body (4) is provided with the finger mounted hole (41) that the clamping for installation manipulator is pointed;
Central shaft (3) is fixed on the front end face center of air rammer (2) and stretches out forward; Central shaft (3) front end is ramp structure, central shaft (3) can 5 moving bodys (4) contacted with it by movable drive to away from axis direction separately or close up.
2., according to the terminal device of automatic loading/unloading Pneumatic manipulator described in claim 1, it is characterized in that:
Also be provided with in the terminal device of described automatic loading/unloading Pneumatic manipulator for detecting whether air rammer (2) is mobile forward or backward arrives the positional detecting device (11) limiting position, positional detecting device (11) is specially two.
3., according to the terminal device of automatic loading/unloading Pneumatic manipulator described in claim 1, it is characterized in that:
Also be provided with in the terminal device of described automatic loading/unloading Pneumatic manipulator for seal (10), it is specifically arranged in following two positions, place: manipulator matrix (1) coordinates on installed surface with rear end substrate (8);
In the sliding friction surface that air rammer (2) coordinates with manipulator matrix (1).
4., according to the terminal device of claim 1-3 automatic loading/unloading Pneumatic manipulator described in one of them, it is characterized in that: in the terminal device of described automatic loading/unloading Pneumatic manipulator, be also provided with following structure: joint pin (5), vibration damper plate (6), front end baffle (7), flexible member (9); Wherein: front end baffle (7) is arranged in manipulator matrix (1) front end for the radial slideway intersection being furnished with moving body (4) in shutoff protection manipulator matrix (1);
For to contact by holding workpiece and the vibration damper plate (6) that can play cushioning effect is connected to manipulator matrix (1) by joint pin (5), and vibration damper plate (6) is arranged in the side of front end baffle (7) away from manipulator matrix (1);
Flexible member (9) is arranged between vibration damper plate (6) and front end baffle (7).
5. according to the terminal device of automatic loading/unloading Pneumatic manipulator described in claim 4, it is characterized in that: in the terminal device of described automatic loading/unloading Pneumatic manipulator, moving body (4) is 3, and it is equal with the distance of manipulator matrix (1) axis and can at the radial synchronization action of tubular mechanical hand matrix (1);
Front end baffle (7) is three-pawl type structure, 3 radial slideways be uniformly distributed along the circumference of moving body (4) of the upper layout of difference shutoff manipulator matrix (1) and the intersection of three;
Each moving body (4) is provided with 2-3 the finger mounted hole (41) pointed for the clamping of installation manipulator; Installing hole (41) axis being parallel is in the axis direction of manipulator matrix (1).
6. according to the terminal device of automatic loading/unloading Pneumatic manipulator described in claim 4, it is characterized in that: in the terminal device of described automatic loading/unloading Pneumatic manipulator, moving body (4) is 2, and it is equal with the distance of manipulator matrix (1) axis and can at the radial synchronization action of tubular mechanical hand matrix (1);
Each moving body (4) is provided with 2-6 the finger mounted hole (41) pointed for the clamping of installation manipulator; Installing hole (41) axis being parallel is in the axis direction of manipulator matrix (1).
7. according to the terminal device of automatic loading/unloading Pneumatic manipulator described in claim 4, it is characterized in that: in the terminal device of described automatic loading/unloading Pneumatic manipulator, the concrete thing travel switch of positional detecting device (11) or position detecting sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420826304.9U CN204471390U (en) | 2014-12-17 | 2014-12-17 | The terminal device of automatic loading/unloading Pneumatic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420826304.9U CN204471390U (en) | 2014-12-17 | 2014-12-17 | The terminal device of automatic loading/unloading Pneumatic manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204471390U true CN204471390U (en) | 2015-07-15 |
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ID=53627160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420826304.9U Expired - Fee Related CN204471390U (en) | 2014-12-17 | 2014-12-17 | The terminal device of automatic loading/unloading Pneumatic manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204471390U (en) |
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2014
- 2014-12-17 CN CN201420826304.9U patent/CN204471390U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150715 Termination date: 20161217 |