CN212312056U

CN212312056U - Grabbing and sucking integrated manipulator for multi-scale special-shaped parts

Info

Publication number: CN212312056U
Application number: CN202020978762.XU
Authority: CN
Inventors: 孙进; 张道周; 张洋; 汪和平; 姜金
Original assignee: Yangzhou University
Current assignee: Yangzhou University
Priority date: 2020-06-02
Filing date: 2020-06-02
Publication date: 2021-01-08
Anticipated expiration: 2030-06-02

Abstract

The grabbing and sucking integrated manipulator for the multi-scale special-shaped part comprises a pneumatic grabbing hand, a pneumatic sucking claw, a tail end mechanical arm, a middle mechanical arm, a head end mechanical arm and the like. The grabbing and sucking integrated mechanical arm for the multi-scale special-shaped part is made of silicon rubber, a flexible grabbing structure is adopted, grabbing of the part is completed by controlling the air pressure inside the mechanical arm, and no trace is left on the surface of the part. The grabbing and sucking integrated manipulator for the multi-scale special-shaped parts adopts the integrated design of a pneumatic gripper and a pneumatic sucking claw, the pneumatic gripper is responsible for grabbing parts with larger volume, the pneumatic sucking claw is responsible for sucking parts with smaller volume, and the pneumatic gripper and the pneumatic sucking claw are matched with each other to grab the multi-scale special-shaped parts.

Description

Grabbing and sucking integrated manipulator for multi-scale special-shaped parts

Technical Field

The utility model relates to a manipulator technical field, concretely relates to integrated manipulator is inhaled in grabbing of multiscale special-shaped part, snatching and carrying of mainly used multiscale opposite sex part.

Background

The mechanical arm is widely applied to industrial production, and the main function of the mechanical arm is to replace manual work to complete the grabbing and carrying of parts. Because the material of the ordinary manipulator is mainly rigid material, when grabbing and carrying parts, grabbing marks are easily left on the surface of the object. And the ordinary manipulator is mainly used for grabbing one or a class of article, and the shape size is single, can only snatch single shape, and especially to nut class minor part, it is great to snatch the degree of difficulty. The common mechanical arm has the problems that the mark is easy to be left in the grabbing process, the mechanical arm is complex to replace, the shape and the size of the grabbed part are single, and the like.

For example: 2018, the Stannless profession technology academy ZhaoFeng discloses a pneumatic manipulator (invention publication No: CN 110202564A), aiming at providing a pneumatic manipulator which has the advantages of simple structure, low cost, capability of rotating between a plurality of fixed angles and high use precision, the technical proposal is that a connecting piece for driving the chuck body to rotate at a fixed angle is arranged between the chuck body and a connecting arm, the connecting piece comprises a driving disc arranged in the connecting arm and a driven disc which is rotatably connected on the connecting piece and is coaxially fixed with the chuck body, a driving rod extends from the driving disc, a plurality of driving grooves are arranged on the driven disc around the center, the driving grooves are matched with the driving rod, a driving motor for driving the driving disc to rotate is also arranged in the connecting arm, the whole structure of the manipulator is simpler, the manipulator is driven by a common motor, and the cost is simpler, simultaneously in the centre gripping process of manipulator, the chuck body of connecting through the connecting piece is difficult for receiving exogenic action and rotate, has avoided influencing the use precision of manipulator. However, the manipulator adopts rigid materials as the chuck, and the gripping force is not easy to control in the gripping process, so that gripping traces are left on the surface of the part.

2019, the Foshan Longshen robot Co., Ltd discloses a manipulator (authorized bulletin No: CN 210025298U) of a cloud platform control robot, which comprises a base, a manipulator body and a manipulator arm, a monitoring device is installed, the device can be observed in detail during the working process, the device is controlled by a control panel, the error is small, a reducer is installed on the outer surface of a second arm, the movement inertia during the use process is reduced, the degree of intelligence is high, the device is convenient to move by installing a moving wheel, the movement track of the robot can be controlled by the control panel, a rotating shaft is installed at the upper end of the second arm, the manipulator can rotate, articles at different positions can be clamped conveniently, the flexibility is high, an indicator lamp is installed at the upper end of the manipulator and is electrically connected with the indicator lamp, when the manipulator clamps, the protective plate is stressed and can be lightened, snatch work through control panel again, make its product be difficult for dropping because of snatching not firmly and damage this article and influence subsequent processing, the protection shield is made for the rubber material, plays the guard action to the article of snatching. The cloud platform control robot hand adopts the U-shaped clamp to grab objects, has single grabbing shape and size, and can only be suitable for grabbing objects in one or other shapes.

In 2019, jie, zhejiang qianjiang robot limited, invented a manipulator (authorized bulletin number: CN 210525088U), which comprises a mounting plate, a movable plate and a guide rod, wherein one end of the guide rod is penetrated through the mounting plate, the other end of the guide rod is penetrated through the movable plate, a spring is sleeved outside the guide rod, a linear bearing is fixedly connected to the movable plate, the linear bearing is sleeved outside the guide rod, one end of the spring abuts against the mounting plate, and the other end of the spring abuts against the linear bearing. The manipulator has the advantage of good clamping stability. However, the above robot has a certain difficulty in grasping small-scale parts such as nuts.

To above-mentioned problem, snatch the mechanism of action according to the manipulator again, the utility model provides a multiscale special-shaped part grab inhale integration manipulator.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing the not enough of prior art, provide the integrated manipulator of inhaling of grabbing of multiscale special-shaped part.

The utility model aims at realizing through the following technical scheme:

the grabbing and sucking integrated mechanical arm for the multi-scale special-shaped part is characterized by comprising a pneumatic grabbing hand, a pneumatic sucking claw and a mechanical arm, wherein the pneumatic grabbing hand and the pneumatic sucking claw are both arranged at the tail end of the mechanical arm and are arranged oppositely; the pneumatic gripper comprises flexible pneumatic bending fingers which are oppositely arranged, each flexible pneumatic bending finger is made of silicon rubber, and an outer side air cavity and an inner side air cavity are arranged along the length direction of the flexible pneumatic bending finger.

Further, the mechanical arm is formed by connecting end mechanical arm, middle mechanical arm, head end mechanical arm in proper order, all adopts to rotate to connect between end mechanical arm, the middle mechanical arm and between middle mechanical arm, the head end mechanical arm.

Furthermore, the pneumatic gripper and the pneumatic suction claw are rotatably connected to the tail end of the tail end mechanical arm.

Furthermore, four flexible pneumatic bending fingers are correspondingly arranged in pairs and are respectively arranged at the tail end of the mechanical arm through a pneumatic gripper fixing frame.

Furthermore, the inner side wall of the flexible pneumatic bending finger is provided with a corrugated structure for increasing friction and used as an anti-skid device.

Furthermore, the pneumatic suction claw is composed of a silicon rubber cap with an air cavity and an electric telescopic rod arranged in the air cavity of the silicon rubber cap, and two ends of the electric telescopic rod are respectively and fixedly connected with the top and the bottom of the inner side of the air cavity.

Compared with the prior art, the utility model discloses following beneficial effect has:

the grabbing and sucking integrated manipulator for the multi-scale special-shaped part is made of silicon rubber, adopts a flexible grabbing structure, finishes grabbing of the part by controlling the air pressure inside the pneumatic grabbing hand and the pneumatic sucking claw, and does not leave marks on the surface of the part; the grabbing and sucking integrated manipulator for the multi-scale special-shaped parts adopts a flexible grabbing structure, so that parts with different shapes and scales can be grabbed; the pneumatic gripper and the pneumatic suction claw are integrally designed, the pneumatic gripper is responsible for gripping parts with large size, the pneumatic suction claw is responsible for sucking parts with small size, and the pneumatic gripper and the pneumatic suction claw are matched with each other to grip parts with multiple scales and special shapes.

Drawings

FIG. 1 is an overall schematic view of the grabbing and sucking integrated manipulator for multi-scale special-shaped parts of the present invention;

FIG. 2 is a schematic view of the whole front view of the grabbing and sucking integrated manipulator for multi-scale special-shaped parts of the present invention;

FIG. 3 is a schematic view of the pneumatic gripper of the gripping and sucking integrated manipulator for multi-scale special-shaped parts of the present invention; (ii) a

FIG. 4 is a schematic view of the pneumatic suction claw of the grabbing and sucking integrated manipulator for the multi-scale special-shaped part of the present invention;

in the figure: the pneumatic gripper comprises a pneumatic gripper 1, a pneumatic suction claw 2, a tail end mechanical arm 3, a middle mechanical arm 4, a head end mechanical arm 5, a flexible pneumatic bending finger 11, an outer side air cavity 111, an inner side air cavity 112, an anti-skid device 113, a pneumatic gripper fixing frame 12, a silicon rubber cap 21 and an electric telescopic rod 22.

Detailed Description

The invention will be further explained with reference to the drawings and the detailed description below:

as shown in the figure, the utility model discloses pneumatic multiscale special-shaped part grab inhale integration manipulator comprises pneumatic tongs 1, pneumatic suction claw 2, terminal arm 3, middle arm 4, head end arm 5 etc.. The pneumatic gripper comprises four flexible pneumatic bending fingers which are oppositely arranged in pairs, each flexible pneumatic bending finger is made of silicon rubber, and an outer side air cavity and an inner side air cavity are arranged along the length direction of the flexible pneumatic bending finger. The flexible pneumatic bending fingers and the pneumatic suction claws are driven by cylinders.

The pneumatic gripper and the pneumatic suction claw are connected with the tail end mechanical arm through shaft holes, and the automatic adjustment of the installation angle can be realized by adopting the structure of a speed reducing motor and a rotating shaft. When one is used, the pneumatic gripper or claw may be rotated to a position where the end arm is parallel.

The tail end mechanical arm is connected with the middle mechanical arm through a connecting piece with an angle rotation; the middle mechanical arm is connected with the head end mechanical arm through an angle rotating connecting piece. To terminal arm, the connecting piece of angular rotation includes gear motor, telescopic link and pivot, and gear motor fixed mounting is in the surface of terminal arm, and telescopic link fixed mounting is in the one end of terminal arm, and pivot movable mounting keeps away from the one end of terminal arm at the telescopic link, and terminal arm other end fixed mounting has pneumatic tongs and pneumatic suction claw. The speed reducing motor is matched with the rotating shaft, so that the tail end mechanical arm completes rotating action; the telescopic rod (electric) enables the tail end mechanical arm to complete the telescopic action. Similarly, the same is true for the middle mechanical arm and the head end mechanical arm.

For a large object, the pneumatic gripper comprises four bent fingers 11, when high-pressure gas is introduced into an air cavity 111 at the outer side of each bent finger, the fingers bend inwards, and two oppositely arranged fingers bend and are matched with each other to finish the action of gripping the object; when high-pressure gas is introduced into the bent finger inner side air cavity 112, the fingers are bent outwards, and the two fingers which are oppositely arranged are bent and matched with each other to finish the action of placing the object.

For small objects, the pneumatic suction claw 2 comprises a retractable cap (i.e. a silicone rubber cap 21 with an air cavity), an electric retractable rod 22. When the object is not grabbed, high-pressure gas is introduced into the telescopic cap; when the object needs to be grabbed, the telescopic cap with high-pressure gas is contacted with the object and then begins to exhaust the gas, the electric telescopic rod is contracted, when the silicon rubber cap contracted to the exhaust gas can be spread and cover the object, the high-pressure gas is introduced to enable the silicon rubber cap to cover the object, and then the action of sucking the small object can be completed.

The pneumatic gripper 1 and the pneumatic suction claw 2 are matched with each other, so that not only can the normal object (large object) be grabbed, but also the small object can be grabbed. The tail end mechanical arm 3, the middle mechanical arm 4 and the head end mechanical arm 5 comprise a speed reducer, a telescopic rod and a rotating shaft, and are mainly responsible for controlling the spatial positions of the pneumatic gripper 1 and the pneumatic suction claw 2, so that the pneumatic gripper 1 and the pneumatic suction claw 2 are conveyed to the position suitable for grabbing, and grabbing is facilitated.

The working principle and the using method of the grabbing and sucking integrated mechanical arm for the multi-scale special-shaped part are as follows:

the working principle is as follows: in production and life, the sizes and the shapes of the objects needing to be grabbed by the mechanical arm are different, the common mechanical arm can only grab one or one type of objects, grabbing traces are easy to leave on the surfaces of the parts, and the grabbing and sucking integrated mechanical arm for the multi-scale special-shaped parts can effectively grab the objects with various irregular shapes, has small size and can not leave the grabbing traces on the surfaces of the objects.

The using method comprises the following steps: firstly, rotating a head end mechanical arm to a proper spatial position; then adjusting the middle mechanical arm to a proper pose; then adjusting the tail end mechanical arm to enable the pneumatic gripper and the pneumatic suction claw to be positioned above the object; then selecting a proper grabbing mode according to the size of the part, selecting a pneumatic gripper if the size of the object is larger, and selecting a pneumatic suction claw if the size of the part is smaller; then high-pressure gas is introduced to open the gripper to grab the part or to exhaust the high-pressure gas to enable the suction claw to cover the part, and then the high-pressure grabbing part is introduced; and finally, properly adjusting the mechanical arm according to the space position of the part to be moved, and placing the part to be grabbed.

Claims

1. The grabbing and sucking integrated mechanical arm for the multi-scale special-shaped parts is characterized by comprising a pneumatic grabbing hand (1), a pneumatic sucking claw (2) and a mechanical arm, wherein the pneumatic grabbing hand and the pneumatic sucking claw are both arranged at the tail end of the mechanical arm and are arranged oppositely; the pneumatic gripper comprises flexible pneumatic bending fingers (11) which are oppositely arranged, each flexible pneumatic bending finger is made of silicon rubber, and an outer side air cavity (111) and an inner side air cavity (112) are arranged along the length direction of the flexible pneumatic bending finger.

2. The grabbing and sucking integrated mechanical arm for the multi-scale special-shaped part as claimed in claim 1, wherein the mechanical arm is formed by sequentially connecting a tail mechanical arm (3), an intermediate mechanical arm (4) and a head mechanical arm (5), and the tail mechanical arm (3) and the intermediate mechanical arm (4) are connected with each other in a rotating manner, and the intermediate mechanical arm (4) and the head mechanical arm (5) are connected with each other in a rotating manner.

3. The integrated grabbing and sucking manipulator for the multi-scale special-shaped part according to claim 2, wherein the pneumatic grabbing hand and the pneumatic sucking claw are both rotatably connected to the tail end of the tail end mechanical arm.

4. The grabbing and sucking integrated manipulator for the multi-scale special-shaped parts as claimed in claim 1, wherein the number of the flexible pneumatic bending fingers is four, the four flexible pneumatic bending fingers are placed in pairs and are respectively installed at the tail end of the mechanical arm through a pneumatic grabbing hand fixing frame (12).

5. The integrated grabbing and sucking manipulator for multi-scale special-shaped parts as claimed in claim 1, wherein the inner side wall of the flexible pneumatic bending finger is provided with a friction-increasing corrugated structure as an anti-skid device (113).

6. The grabbing and sucking integrated manipulator for the multi-scale special-shaped parts as claimed in claim 1, wherein the pneumatic sucking claw is composed of a silicon rubber cap (21) with an air cavity and an electric telescopic rod (22) arranged in the air cavity of the silicon rubber cap, and two ends of the electric telescopic rod are respectively and fixedly connected with the top and the bottom of the inner side of the air cavity.