CN207480619U - A kind of rotatable Pneumatic manipulator - Google Patents
A kind of rotatable Pneumatic manipulator Download PDFInfo
- Publication number
- CN207480619U CN207480619U CN201721425028.5U CN201721425028U CN207480619U CN 207480619 U CN207480619 U CN 207480619U CN 201721425028 U CN201721425028 U CN 201721425028U CN 207480619 U CN207480619 U CN 207480619U
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- China
- Prior art keywords
- handgrip
- cylinder
- flange
- pedestal
- shaft
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Abstract
The utility model discloses a kind of rotatable Pneumatic manipulators,Including sequentially connected pedestal from top to bottom,Handgrip supports and gripper frame,Pedestal is the cylindrical housings of a lower openings,Motor is provided in pedestal,Pedestal lower end is provided with outwardly extending first flange,Cylinder of the handgrip support for up/down perforation,Shaft coupling,Shaft is arranged in the cylinder of handgrip support,Handgrip support upper end is provided with the second flange to extend internally,First flange and the clamping of the second flange,The output shaft of motor is connect by shaft coupling with shaft,Shaft lower end sets cylinder,The telescopic rod of cylinder is connect across gripper frame with manipulator,It is driven using air pressure,For manipulator is made to can be adapted in more working environments,For one degree of freedom around own axes revolution of manipulator design,There is the action of rotation such design can make manipulator even if in fixed rack,It can be applied in screw thread installation or the assembly work of non-circular part.
Description
Technical field
The utility model belongs to manipulator technical field, and in particular to a kind of rotatable Pneumatic manipulator.
Background technology
The type of drive of manipulator has Pneumatic Transmission, hydraulic drive, Electrified Transmission and machine driving.It is more next in machinery industry
Manipulator, mainly hydraulic control and pressure control two ways are employed in more automation equipments.Wherein pneumatic machinery
Hand with its is inexhaustible, with endless air source and relatively low production cost liked that Pneumatic manipulator grinds in various countries by user
Study carefully and increasingly pay attention to, developed into a kind of important practical technique for meeting production needs.Pneumatic motor used at present
The activity that only responsible hand is grabbed substantially of tool hand is promptly to act workpiece, and the action of manipulator entirety is by external and machine
The coupling part of tool arm drives completion spinfunction by the action of mechanical arm, therefore they must all be fitted to and have
Spinfunction can be realized on the mechanical arm of spinfunction.
Invention content
To solve the above-mentioned problems, the utility model provides a kind of rotatable Pneumatic manipulator, the utility model design
Rationally, manipulator has the function of being rotated around own axes, does not have in the rack of spinfunction so as to be mounted on, but
So that whole equipment has spinfunction.
In order to achieve the above objectives, a kind of rotatable Pneumatic manipulator described in the utility model includes being sequentially connected from top to bottom
Pedestal, handgrip support and gripper frame, pedestal be the cylindrical housings of a lower openings, motor is provided in pedestal, under pedestal
End setting extends first flange of one week, and handgrip support upper end is provided with the second flange of extension one week, pedestal and handgrip support
It is clamped by the first flange and the second flange, handgrip support and shaft are fixedly connected with gripper frame, gripper frame and mechanical gripper
Connection, the output shaft of motor are connect by shaft coupling with shaft, and shaft lower end is provided with cavity, and cylinder, gas are provided in cavity
The telescopic rod of cylinder is connect across gripper frame with mechanical gripper.
The mechanical gripper includes the middle part of symmetrically arranged first handgrip and the second handgrip, the first handgrip and the second handgrip
It is hinged by the piston rod of connecting rod and cylinder, the hinge hole of connecting rod two end connects the hinge hole at handgrip center respectively and cylinder is lived
The top of the hinge hole of stopper rod end, the first handgrip and the second handgrip is hinged with gripper frame.
First handgrip and the second handgrip lower inside are provided with non-slip mat.
The baffle that the gripper frame includes the cavity cuboid housing of lower opening and is arranged on housing, baffle
Be fixedly connected by screw bolt and nut with the flange of cylinder, be provided on baffle piston rod for cylinder by through-hole, housing
Leading flank is hinged with the first handgrip and the second handgrip.
First lug upper surface and the second flange lower surface are burnishing surface.
Handgrip support lower part is provided with outside third flange, is provided with to be fixedly connected with gripper frame in third flange
Through-hole, handgrip support lower part be fixedly connected by bolt with gripper frame.
The motor is DC brushless motor or stepper motor.
Compared with prior art, the utility model at least has technique effect beneficial below, and the utility model uses gas
Pressure driving, for manipulator is made to can be adapted in more working environments, by by pedestal and handgrip support clamping, make pedestal and
Handgrip support can relatively rotate, and be one degree of freedom around own axes revolution of manipulator design, and such design can make
Manipulator is even if in fixed rack there is the action of rotation, screw thread installation or non-can be applied to
In the assembly work of circular pieces.With it is simple in structure, control is simple, working range it is simple it is adjustable, that working forms are variable etc. is excellent
Point.The utility model uses power original paper of the cylinder as handgrip, it is only necessary to control the flexible of the piston rod of cylinder can be real
Now to the control of handgrip folding, and the rotation of manipulator using turning motor as power original paper, by motor simply just
Reversion and angle control can be realized to the direction of rotation of manipulator and angle control.Due to manipulator described in the utility model
It is simple in structure, a variety of workplaces can be used, so its application range is very extensive, the big carrying work for arriving workpiece is small to arrive
Such as relating in the mechanical erection field of bolt installment work.
Mechanical gripper includes symmetrically arranged first handgrip and the second handgrip, and the middle part of the first handgrip and the second handgrip is logical
The piston rod for crossing connecting rod and cylinder is hinged, and the hinge hole of connecting rod two end connects the hinge hole and cylinder piston rod at handgrip center respectively
The top of the hinge hole of end, the first handgrip and the second handgrip is hinged with gripper frame, and mechanical gripper uses link mechanism form, greatly
Its structural complexity is simplified greatly, so that mechanical gripper is more light and handy, the connecting component used due to reducing transmission,
The working efficiency of manipulator is thus improved, reduces cost due to simple in structure on the whole.
Further, the first handgrip and the second handgrip lower inside are provided with non-slip mat, can effectively prevent in the course of work
The article of gripping is fallen, while the increasing friction force when screw thread is installed, and improves working efficiency.
Further, the gear that gripper frame includes the cavity cuboid housing of lower opening and is arranged on housing
Plate, baffle are fixedly connected by screw bolt and nut with the flange of cylinder, be provided on baffle piston rod for cylinder by it is logical
Hole, housing leading flank are hinged with the first handgrip and the second handgrip, and the housing side of baffle lower part is to the first handgrip and the second handgrip
Motion range be defined, the first handgrip and the lower part of the second handgrip is enable to clamp article.
Further, the first lug upper surface and the second flange lower surface are burnishing surface, can effectively reduce the present apparatus
Frictional force in rotation process improves working efficiency, extends the service life of device.
Further, handgrip support lower part is provided with outside third flange, is provided with and is used for and handgrip in third flange
The through-hole that frame is fixedly connected, handgrip support lower part is fixedly connected by bolt with gripper frame, easy to connect, detachable, convenient for inspection
It repaiies.
Description of the drawings
Fig. 1 is the overall structure diagram of Pneumatic manipulator；
Fig. 2 is the fiting relation figure of handgrip support and pedestal；
Fig. 3 is mechanical gripper simplified partial schematic diagram；
Fig. 4 is mechanical gripper structure diagram；
In attached drawing：1st, the first handgrip, the 2, second handgrip, 3, non-slip mat, 4, connecting rod, 5, gripper frame, 6, handgrip support, 7, gas
Cylinder, 8, shaft, 9, motor cabinet, 10, pedestal, 11, motor, 12, piston rod, 13, shaft coupling.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
Referring to figs. 1 to Fig. 4, a kind of rotatable Pneumatic manipulator includes mechanical gripper, non-slip mat 3, connecting rod 4, cylinder 7, turns
Axis 8, motor cabinet 9, pedestal 10, motor 11 and shaft coupling 13 and the pedestal 10 being fixedly connected sequentially from top to bottom, handgrip support 6
With gripper frame 5.
Pedestal 10 is the cylinder housing of a lower openings, and motor 11 is provided in housing, and motor selects brush DC electricity
Machine or stepper motor, 10 lower edge of pedestal is provided with threaded hole and the first flange of a circle of extending outwardly, due to first convex
Edge and the second flange contact the spinfunction for realizing manipulator by face, so contact surface belongs to position easy to wear herein, are
Reduce friction, the first lug upper surface needs to finish, be burnishing surface.The threaded hole of 10 lower edge of pedestal is used for and returns
Turning motor is fixed on the inside of 10 housing of pedestal by rotating motor seat 9 and bolt and nut cooperation, and handgrip support 6 is passes through up and down
Logical cylinder, handgrip support 6 tops to be provided with inside extension one and enclose the second flange, and the second flange lower surface finishes, and first
Lug upper surface and the second flange lower surface are in contact, and can realize and be rotatably assorted, and handgrip supports 6 lower parts to be provided with outside the
Three flanges, the through-hole for being fixedly connected with gripper frame 5 is provided in third flange, and handgrip supports 6 lower parts to pass through bolt and nut
It is fixedly connected with gripper frame 5,5 lower end of gripper frame is provided with gripper.Shaft coupling 13, shaft 8 are arranged at the cylinder of handgrip support 6
In body, the output shaft of turning motor is connect by shaft coupling 13 with shaft 8, and shaft 8 is divided for three sections of axis of upper, middle and lower, and upper shaft part is used for
Shaft coupling 13 is installed, lower shaft end hollow design is used for placing cylinder 7, and intermediate shaft end plays transition and transmits power, under shaft 8
The 4th outside flange is arranged at shaft end bottom, is provided with the hole installed and used with gripper frame 5 on the 4th flange, shaft 8 by hole with
Gripper frame 5 is fixedly connected.5 top of gripper frame is provided at center close to through-hole is provided at both ends with for by 7 connecting rod 4 of cylinder
Central through hole, around central through hole be provided with a circle and 7 flange of cylinder cooperation aperture, centre bore both sides are additionally provided with two rows
For the aperture coordinated with shaft 8, it is outside that the concentric aperture on these apertures and shaft 8 is connected by screw 10 lower part of pedestal
The edge that edge and handgrip support 6 tops inside is engaged by face, it can be achieved that handgrip support 6 has around own axes revolution
Degree of freedom.Motor 11 by shaft coupling 13 drive shaft 8 rotate, shaft 8 again drive gripper frame 5 rotate so that all and grab
The part that hand support 6 is fixedly connected carries out rotary motion jointly.
With reference to Fig. 2, mechanical gripper includes symmetrically arranged first handgrip, 1 and second handgrip 2, and the first handgrip 1 and second is grabbed
The angle of 2 upper and lower part of hand is less than 180 degree, shortens the stroke on handgrip top, the junction of handgrip upper and lower part is provided with
The middle part of hinge hole, the first handgrip 1 and the second handgrip 2 is hinged by the piston rod 12 of connecting rod 4 and cylinder 7,4 both ends of connecting rod
The hinge hole that hinge hole connects 12 end of hinge hole and 7 piston rod of cylinder at handgrip center respectively is reciprocal by 7 piston rod 12 of cylinder
The component of movement passes to handgrip center, and so as to drive the open and close movement of handgrip, the top of the first handgrip 1 and the second handgrip 2 leads to
It is hinged with gripper frame 5 to cross axis pin, the first handgrip 1 and 2 lower inside of the second handgrip are provided with non-slip mat 3, and non-slip mat 3 uses rubber
Material is made.The hand getting of this machinery is driven with air pressure, therefore its structure should be designed to simply be easy to the structure type of linear drives.It adopts
Gripping workpiece is carried out with the mode that two handgrips clamp, two handgrip tops, which are respectively articulated with, to be fixed on pedestal 10, and middle part passes through
After connecting rod 4 connects, connecting rod 4 is articulated on the piston rod 12 of cylinder 7, and clamping is driven by the vertical up-or-down movement of 7 bar of cylinder
The task of clamping and release workpiece is completed in the folding of bar.
With reference to Fig. 4, gear that gripper frame 5 includes the cavity cuboid housing of lower opening and is arranged on housing
Plate, baffle are fixedly connected by screw bolt and nut with the flange of cylinder 7, and baffle center position is provided with for 7 piston rod 12 of cylinder
By through-hole, the piston rod 12 of cylinder 7 can move back and forth under the influence of air pressure along the axis direction of central through hole.Shell
Body leading flank is connect by axis pin with handgrip, and handgrip can make circular motion centered on this mounting hole.
The course of work of the present apparatus is as follows：
If carrying out the work of grabbing workpiece using the present apparatus, manipulator is sent to close to the position of workpiece first with rack
It puts, while drives cylinder 7 so that the first handgrip 1 and the second handgrip 2 open up into maximum angle, then driving motor 11 is so that machinery
Hand turns to the best station for opposite piece, then controls the receipts of the first handgrip 1 and the second handgrip 2 by driving cylinder 7
Hold together, it is made to carry out clipping operation to workpiece, workpiece is then sent to by target location by the movement of rack, then cylinder 7 is driven to control
Make the first handgrip 1 and the second handgrip 2 opened so as to discharge workpiece, then manipulator is sent back to original position by rack, repeatedly on
It states the course of work and carries out continuous work.If carrying out mechanical erection work using the present apparatus, manipulator is sent first with rack
To close to the position of fastener, while cylinder 7 is driven so that the first handgrip 1 and the second handgrip 2 open up into maximum angle, then drive
Cylinder 7 take offence so that the first handgrip 1 and the second handgrip 2 collapse to step up fastener, then pass through 11 manipulator of driving motor
Spinning movement is made, fastener is tightened, drives cylinder 7 that first handgrip 1 and the second handgrip 2 are opened later, then passes through
Manipulator is sent to next station and worked by rack, so realizes multiple station continuous works repeatedly.
Claims (7)
1. a kind of rotatable Pneumatic manipulator, which is characterized in that supported including sequentially connected pedestal (10) from top to bottom, handgrip
(6) and gripper frame (5), pedestal (10) are the cylindrical housings of a lower openings, and motor (11), pedestal are provided in pedestal (10)
(10) lower end setting extends first flange of one week, and handgrip support (6) upper end is provided with the second flange of extension one week, pedestal
(10) be clamped with handgrip support (6) by the first flange and the second flange, handgrip support (6) and shaft (8) with gripper frame (5)
It being fixedly connected, gripper frame (5) is connect with mechanical gripper, and the output shaft of motor (11) is connect by shaft coupling (13) with shaft (8),
Shaft (8) lower end is provided with cavity, and cylinder (7) is provided in cavity, and the telescopic rod of cylinder (7) passes through gripper frame (5) and machinery
Handgrip connects.
2. a kind of rotatable Pneumatic manipulator according to claim 1, which is characterized in that mechanical gripper includes being symmetrical arranged
The first handgrip (1) and the second handgrip (2), the middle part of the first handgrip (1) and the second handgrip (2) pass through connecting rod (4) and cylinder
(7) piston rod (12) is hinged, and the hinge hole at connecting rod (4) both ends connects the hinge hole at handgrip center and cylinder (7) piston respectively
The top of the hinge hole of bar (12) end, the first handgrip (1) and the second handgrip (2) is hinged with gripper frame (5).
3. a kind of rotatable Pneumatic manipulator according to claim 2, which is characterized in that the first handgrip (1) and second is grabbed
Hand (2) lower inside is provided with non-slip mat (3).
4. a kind of rotatable Pneumatic manipulator according to claim 2, which is characterized in that gripper frame (5) is including under one
The cavity cuboid housing being just open and the baffle being arranged on housing, the method that baffle passes through screw bolt and nut and cylinder (7)
Orchid is fixedly connected, be provided on baffle piston rod (12) for cylinder (7) by through-hole, housing leading flank and the first handgrip
(1) and the second handgrip (2) is hinged.
5. a kind of rotatable Pneumatic manipulator according to claim 1, which is characterized in that first lug upper surface and
Second flange lower surface is burnishing surface.
A kind of 6. rotatable Pneumatic manipulator according to claim 1, which is characterized in that handgrip support (6) lower part setting
There is outside third flange, third flange is fixedly connected by bolt with gripper frame (5).
7. a kind of rotatable Pneumatic manipulator according to claim 1, which is characterized in that the motor is turning motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721425028.5U CN207480619U (en) | 2017-10-31 | 2017-10-31 | A kind of rotatable Pneumatic manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721425028.5U CN207480619U (en) | 2017-10-31 | 2017-10-31 | A kind of rotatable Pneumatic manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207480619U true CN207480619U (en) | 2018-06-12 |
Family
ID=62478404
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721425028.5U Expired - Fee Related CN207480619U (en) | 2017-10-31 | 2017-10-31 | A kind of rotatable Pneumatic manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207480619U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732637A (en) * | 2019-03-12 | 2019-05-10 | 哈工大机器人（山东）智能装备研究院 | A kind of magnetic fluid modular mechanical clamp hand and working method |
| CN111775169A (en) * | 2020-07-09 | 2020-10-16 | 合肥井松智能科技股份有限公司 | Mechanical grab bucket of transfer robot |
-
2017
- 2017-10-31 CN CN201721425028.5U patent/CN207480619U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109732637A (en) * | 2019-03-12 | 2019-05-10 | 哈工大机器人（山东）智能装备研究院 | A kind of magnetic fluid modular mechanical clamp hand and working method |
| CN111775169A (en) * | 2020-07-09 | 2020-10-16 | 合肥井松智能科技股份有限公司 | Mechanical grab bucket of transfer robot |
| CN111775169B (en) * | 2020-07-09 | 2021-02-26 | 合肥井松智能科技股份有限公司 | Mechanical grab bucket of transfer robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20180612 Termination date: 20181031 |