CN212241095U

CN212241095U - Pneumatic manipulator

Info

Publication number: CN212241095U
Application number: CN202020580664.0U
Authority: CN
Inventors: 康丽群
Original assignee: Tianjin Sanhe Intelligent Equipment Manufacturing Co ltd
Current assignee: Tianjin Sanhe Intelligent Equipment Manufacturing Co ltd
Priority date: 2020-04-18
Filing date: 2020-04-18
Publication date: 2020-12-29
Anticipated expiration: 2030-04-18

Abstract

The utility model discloses a pneumatic manipulator, including the frame that is the T font and lay and set up the assembly plate at the frame both ends, install clamping mechanism on the assembly plate, clamping mechanism includes clamping part and axle sleeve, and the axle sleeve is installed on the surface of assembly plate, and the pivot has been cup jointed to the inside of axle sleeve, and the both ends of pivot are outwards extended, and clamping part installs the one end in the pivot, install two cylinders of laying relatively in the frame, and the output of cylinder installs link gear, link gear's surface is connected with clamping mechanism, and link gear drives clamping mechanism rotatory to realize the mechanical clamping operation. The utility model discloses a be provided with a series of structures for this pneumatic manipulator can receive two relative cylinder effects, drives the clamping jaw and carries out the relative oscillation, carries out the centre gripping to large-scale work pieces such as panel, cell type part, satisfies mechanized and industrialized demand.

Description

Pneumatic manipulator

Technical Field

The utility model relates to the technical field of machining, specifically be a pneumatic manipulator.

Background

The automatic production technology is more and more in the workshop production field, and especially the use of industrial robots improves the production efficiency and promotes more technical innovation.

In a general industrial production process, such as the processing of a plate, from the beginning of receiving raw materials and materials to each link in the material flowing process of processing, production, storage, distribution and the like, more or less manpower is used, especially in a factory with low automatic processing degree, if the manpower is used in the process of grabbing 1-8 m plate-type or groove-type parts, the labor degree of workers is directly increased, the labor cost is increased, meanwhile, the processing efficiency is undoubtedly influenced, the structure of the existing automatic clamping component is generally complex, the equipment cost is undoubtedly increased, the automatic equipment still cannot replace manual operation, and the contradiction between the cost and the efficiency in industrial processing is caused.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a pneumatic manipulator to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a pneumatic manipulator, is including the frame that is the T font and lays and set up the assembly plate at the frame both ends, install clamping mechanism on the assembly plate, install two cylinders of laying relatively in the frame, and the output of cylinder installs link gear, link gear's surface and clamping mechanism are connected, and link gear drives clamping mechanism rotatory to realize the mechanical clamping operation.

Preferably, the clamping mechanism comprises a clamping component and a shaft sleeve, the shaft sleeve is mounted on the surface of the assembly plate, a rotating shaft is sleeved inside the shaft sleeve, two ends of the rotating shaft extend outwards, and the clamping component is mounted at one end of the rotating shaft.

Preferably, the clamping member is a jaw.

Preferably, the linkage mechanism comprises a push rod and a linkage rod, the push rod is installed at the output end of the cylinder, the linkage rod is installed at one end of the push rod through a hinged component, and the tail end of the linkage rod is fixedly sleeved on the rotating shaft.

Preferably, the rear end surface of the rack is provided with a connecting surface in an included angle groove shape.

Preferably, the clamping member includes a claw plate and a buffer plate, the claw plate is mounted on the surface of the clamping jaw, the threaded rod is mounted at the bottom end of the claw plate, and the buffer plate is mounted on one side surface of the claw plate.

Preferably, splint are installed to the bottom of buffer board, and the surface mounting of splint has the lantern ring, and the lantern ring passes through the fixed cover of nut and connects on the screw rod surface.

Preferably, the clamping grooves are arranged at the bottom ends of the clamping plate and the buffer plate, and the clamping columns are arranged at the top ends of the clamping plate.

Compared with the prior art, the beneficial effects of the utility model are that:

1. this pneumatic manipulator through connecting the face, can regard as the installation face use with external equipment, if install etc. with external mechanical arm, the actual assembly of being convenient for, through two cylinders of laying relatively, the two is outer eight characters and lays, can form the moment of two not equidirectionals, for centre gripping panel or cell type work piece etc. provide required moment, use as clamping part's control component and application of force part simultaneously, whole manipulator's simple structure on the whole, manufacturing cost is lower.

2. This pneumatic manipulator through the push rod to use with the gangbar combines, and the two can produce reciprocating motion with the help of the hinge structure characteristic under the condition of the flexible moment that the receiving cylinder produced, drives the pivot and takes place rotary motion, and then makes the clamping jaw take place swing motion, carries out the centre gripping to panel etc. between two clamping jaws.

3. This pneumatic manipulator, through the assembly plate, use as the support component of countershaft, and cup joint with the activity between the pivot, increase structural stability, through splint, and use jointly with the buffer board, can be when the clamping jaw even takes the jaw swing motion, increase the surface area of clamping jaw, can be when using with the surperficial direct contact of panel, avoid the emergence of stress concentration phenomenon, protect the profile of panel, through the lantern ring, can cup joint on the threaded rod, under the condition of nut is installed to lantern ring bottom, can carry out the spacing installation in upper and lower left and right sides position to the splint, and through the jack post, use jointly with the draw-in groove, can realize splint and buffer board spacing assembly simultaneously, in subsequent needs increase area of contact, make on another splint of single splint can spacing installation above, realize the chucking effect.

Drawings

FIG. 1 is a schematic view of the entire structure of embodiment 1;

FIG. 2 is a left side view of FIG. 1;

FIG. 3 is a schematic view of the structure of an extension mechanism according to embodiment 2;

fig. 4 is a schematic view of the internal structure of the splint in embodiment 2.

In the figure: 1. a frame; 2. a cylinder; 3. a clamping jaw; 301. a claw plate; 302. a threaded rod; 4. a rotating shaft; 5. a push rod; 6. assembling a plate; 7. a connecting surface; 8. a linkage rod; 9. a shaft sleeve; 10. a splint; 1001. a collar; 11. a buffer plate; 12. a card slot; 1201. and (5) clamping the column.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element to which the reference is made must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected or detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1

As shown in fig. 1 and fig. 2, the pneumatic manipulator of this embodiment includes a rack 1 arranged in a T shape and assembling plates 6 arranged at two ends of the rack 1 and vertically installed, the two assembling plates 6 are parallel to each other, through holes are arranged on the surfaces, clamping mechanisms are installed on the assembling plates 6, actually, two opposite clamping mechanisms can simultaneously act under stress to clamp a plate or a workpiece between the two assembling plates, two cylinders 2 arranged oppositely are installed on the rack 1, and are connected and controlled by an external gas transmission component through a pipeline, the two cylinders 2 are arranged in an outward splayed shape to form two torques in different directions to provide required torques for clamping the plate or the workpiece, and are used as a control component and a force application component of a clamping component, and the output end of the cylinder 2 is installed with a linkage mechanism which can be driven by the cylinder 2 to move to transmit the torque generated by the cylinder 2, the surface of the linkage mechanism is connected with the clamping mechanism, and the linkage mechanism drives the clamping mechanism to rotate so as to realize mechanical clamping operation.

Specifically, clamping mechanism includes clamping part and axle sleeve 9, and axle sleeve 9 fixed mounting is on the surface of assembly panel 6, and axle sleeve 9 internal surface is smooth, and pivot 4 has been cup jointed to the inside of axle sleeve 9, and the both ends of pivot 4 outwards extend, and its one end is derived through the 6 through-holes of assembly panel, and clamping part installs the one end at pivot 4, can drive clamping part and swing under the pivoted condition of pivot 4, and then produce and press from both sides tight operation.

Furthermore, the clamping part is a clamping jaw 3, the clamping jaw 3 is vertically arranged relative to the rotating shaft 4, the clamping jaw 3 and the rotating shaft 4 form an L-shaped structure, the rotating shaft 4 rotates to swing the clamping jaw 3, the clamping jaw 3 and the surface of the plate directly act, and the two clamping jaws 3 apply force simultaneously to clamp the whole plate.

Further, the link gear includes push rod 5 and gangbar 8, push rod 5 is installed at the output of cylinder 2, push rod 5 is as the direct application of force part of cylinder 2, can carry out synchronous concertina movement along with the member of cylinder 2, gangbar 8 is installed in the one end of push rod 5 through articulated part, articulated part is like the articulated shaft, receive articulated shaft structure effect, under the spacing circumstances of gangbar 8, push rod 5 moves and can drive gangbar 8 and carry out reciprocating swing, and 8 terminal fixed cup joints of gangbar are on pivot 4, when pivot 4 carries out spacingly to the one end of gangbar 8, reciprocating motion's gangbar 8 can drive pivot 4 and carry out rotary motion.

Furthermore, the rear end surface of the rack 1 is provided with a connection surface 7 in an included angle groove shape, which can be used as a mounting surface for external equipment, such as an external mechanical arm, so as to facilitate actual assembly, and the bottom end surface of the rack can be used as a top-tight limiting surface for a plate when being clamped.

The using method of the embodiment comprises the following steps: the whole manipulator is arranged on another mechanical arm by means of a connecting surface 7, such as a six-axis robot, the cylinder 2 is connected with an external gas source through a pipeline, the cylinder 2 can be controlled by external gas, when the manipulator is actually used, the whole manipulator can be moved to a part to be clamped, the bottom end of the connecting surface 7 is ensured to be positioned above a workpiece, the workpiece is positioned between two clamping jaws 3, when the clamping is needed, rod pieces of the two cylinders 2 simultaneously contract and push the push rod 5 to move inwards, so that the two linkage rods 8 simultaneously swing inwards, the rotating shaft 4 further rotates inwards, the two clamping jaws 3 are driven to simultaneously move inwards and oppositely and contact with a plate between the two clamping jaws to achieve the effects of jacking and clamping, when the clamping force needs to be removed, only the two cylinder 2 rod pieces need to be simultaneously extended, and the two clamping jaws 3 move outwards and reversely, the clamping jaw 3 is separated from the plate, and the clamping force is removed.

Example 2

The structure of the pneumatic manipulator of the present embodiment is substantially the same as that of the pneumatic manipulator of embodiment 1, except that: the clamping member includes a claw plate 301 and a buffer plate 11, the claw plate 301 is mounted on the surface of the clamping jaw 3, a threaded rod 302 is mounted on the bottom end of the claw plate 301, and the buffer plate 11 is mounted on one side surface of the claw plate 301 (see fig. 3 and 4). The surface of the threaded rod 302 is provided with external threads, the threaded rod 302 and the buffer plate 11 are arranged in parallel, the surface area of the buffer plate 11 is large, the threaded rod can be used as a part in direct contact with a plate, the contact area is increased, and stress concentration is avoided.

Specifically, splint 10 is installed to the bottom of buffer board 11, and splint 10 and buffer board 11's the mutual parallel and level in surface can further increase with the area of contact of panel, and splint 10's surface mounting has the lantern ring 1001, and the lantern ring 1001 is fixed the cover through the nut and is connected on threaded rod 302 surface, installs the condition of nut in lantern ring 1001 bottom, can carry out the spacing installation in upper and lower left and right sides position to splint 10.

Further, the clamping groove 12 is installed at the bottom end of the clamping plate 10 and the bottom end of the buffer plate 11, the clamping groove 12 extends upwards, the clamping column 1201 is installed at the top end of the clamping plate 10, and during actual use, the clamping column 1201 at the top end of the clamping plate 10 can be arranged inside the clamping groove 12 at the bottom end of the buffer plate 11 or the other clamping plate 10, so that assembly limiting operation is formed.

The using method of the embodiment comprises the following steps: receive clamping jaw 3's swing motion, when centre gripping panel, whole buffer board 11 is direct attached on the surface of panel, and the direct and panel contact in surface of buffer board 11, the area of contact of indirect increase clamping jaw 3 and panel, avoid the panel profile destruction that stress concentration caused, for further increase area of contact, can cup joint lantern ring 1001 along threaded rod 302, and make splint 10 move upwards, the card post 1201 card on splint 10 top is gone into in buffer board 11 bottom draw-in groove 12, form spacing effect, screw up the nut on threaded rod 302 this moment, and to the tight spacing in top below lantern ring 1001, buffer board 11 surface and splint 10 parallel and level or there is certain gradient, in order to guarantee splint 10 simultaneously with buffer board 11 and panel surface contact, for avoiding clearance or vibrational force, can be at buffer board 11 and splint 10 surface mounting cushion, so that in-service use.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A pneumatic manipulator, its characterized in that: including frame (1) that is the T font and lay and assembly plate (6) of setting at frame (1) both ends, install clamping mechanism on assembly plate (6), install two cylinder (2) of laying relatively on frame (1), and the output of cylinder (2) installs link gear, link gear's surface is connected with clamping mechanism, and link gear drives clamping mechanism rotatory to realize the mechanical clamping operation.

2. A pneumatic manipulator according to claim 1, wherein: clamping mechanism includes clamping unit and axle sleeve (9), and the surface at assembly plate (6) is installed in axle sleeve (9), and pivot (4) have been cup jointed to the inside of axle sleeve (9), and the both ends of pivot (4) are outwards extended, and clamping unit installs the one end at pivot (4).

3. A pneumatic manipulator according to claim 2, wherein: the clamping part is a clamping jaw (3).

4. A pneumatic manipulator according to claim 2, wherein: the linkage mechanism comprises a push rod (5) and a linkage rod (8), the push rod (5) is installed at the output end of the cylinder (2), the linkage rod (8) is installed at one end of the push rod (5) through a hinged component, and the tail end of the linkage rod (8) is fixedly sleeved on the rotating shaft (4).

5. A pneumatic manipulator according to claim 1, wherein: the rear end surface of the rack (1) is provided with a connecting surface (7) in an included angle groove shape.

6. A pneumatic manipulator according to claim 2, wherein: the clamping part comprises a claw plate (301) and a buffer plate (11), the claw plate (301) is installed on the surface of the clamping jaw (3), a threaded rod (302) is installed at the bottom end of the claw plate (301), and the buffer plate (11) is installed on one side surface of the claw plate (301).

7. A pneumatic manipulator according to claim 6, wherein: splint (10) are installed to the bottom of buffer board (11), and the surface mounting of splint (10) has lantern ring (1001), and lantern ring (1001) is fixed cup jointing on threaded rod (302) surface through the nut.

8. A pneumatic manipulator according to claim 7, wherein: clamping grooves (12) are arranged at the bottom ends of the clamping plate (10) and the buffer plate (11), and clamping columns (1201) are arranged at the top end of the clamping plate (10).