CN217861294U - Pneumatic manipulator - Google Patents

Abstract

The utility model provides a pneumatic manipulator, which comprises a closed shell internally provided with an air cavity, wherein the closed shell is provided with a mounting plate, the mounting plate is provided with a plurality of mounting holes communicated with the air cavity, each mounting hole is internally provided with a thimble in a sliding way, and the thimbles are in sealing fit with the mounting holes; one end of each thimble, which faces the air cavity, extends into the air cavity and is provided with a blocking structure so as to prevent the thimble from being separated from the mounting hole when the thimble slides outwards; the closed shell is provided with an air inlet communicated with the air cavity, and the air inlet is communicated with the air supply device so as to input air into the air cavity through the air supply device, so that the ejector pin is pushed by the air to slide outwards to push the object tightly when the object is clamped. The utility model provides a pneumatic manipulator can effectively solve among the prior art manipulator and cause the technical problem of damage to the product easily when snatching the anomalous shape product.

Description

Pneumatic manipulator

Technical Field

The utility model relates to a pneumatic manipulator belongs to manipulator technical field.

Background

In the fields of automated production, processing, inspection, and the like, there are a large number of various products that need to be transported and positioned by robot gripping. However, in actual production, due to the irregular shapes of part of products, the contact area between the manipulator and the products is small when the manipulator clamps the products, and clamping failure is easily caused due to insufficient clamping force, so that the automation of production, processing and detection of the products is influenced; in addition, some products need to be gripped without damage and traces, and the existing mechanical arm mainly clamps the products by means of rigid clamping force, so that the products are easily damaged in the clamping process, and the qualification rate of the products is affected.

At present, the most common use form of a manipulator is divided into a clamping jaw and a sucking disc, the clamping jaw mainly clamps a product by means of rigid clamping force, and the product is easily damaged in the clamping process. Therefore, when clamping some products which are required to be free of damage and traces, more suction cups are adopted to grab the products, the products cannot be damaged because the suction cups are used for grabbing the products by means of suction, but when grabbing some products with uneven surfaces or dense holes, the products cannot be grabbed due to insufficient suction, so that a lot of products still need to be grabbed by manual operation, and the working efficiency is greatly influenced.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a pneumatic manipulator to solve among the prior art manipulator and cause the technical problem of damage to the product easily when snatching the anomalous shape product.

The utility model discloses well pneumatic manipulator adopts following technical scheme:

the pneumatic manipulator comprises a closed shell with an air cavity inside, wherein a mounting plate is arranged on the closed shell, a plurality of mounting holes communicated with the air cavity are formed in the mounting plate, ejector pins are slidably mounted in the mounting holes, and the ejector pins are in sealing fit with the mounting holes; one end of each thimble, which faces the air cavity, extends into the air cavity and is provided with a blocking structure so as to prevent the thimble from being separated from the mounting hole when the thimble slides outwards; the closed shell is provided with an air inlet communicated with the air cavity, and the air inlet is communicated with the air supply device so as to input air into the air cavity through the air supply device, so that the ejector pin is pushed by the air to slide outwards to push the object tightly when the object is clamped.

Has the advantages that: the utility model provides a pneumatic manipulator when pressing from both sides and getting the object, selects the pneumatic manipulator of suitable quantity, makes the mounting panel arrange in the relative both sides of object, with pneumatic manipulator's inlet port and air feeder intercommunication, air feeder is to pneumatic manipulator's air cavity air feed, and the thimble on the gaseous promotion mounting panel outwards slides in order to push up tight object to the completion is got the clamp of object. Compared with the mode of clamping an object through the clamping jaw and the sucker in the prior art, in the pneumatic manipulator provided by the utility model, each thimble is independently pressed and independently acts, so that when the corresponding thimble slides outwards to tightly push the object, the sliding amount of each thimble can be adaptively adjusted according to the shape of the object, and therefore each thimble can reliably contact with the object when tightly pushing the object with an irregular shape, and the object can be reliably clamped; in addition, the ejector pin is pushed by air to tightly push the object, so that the ejection force of the ejector pin to the object is flexible, and the damage to the object when the object is clamped is reduced.

Furthermore, the end surface of one end of the thimble, which is back to the air cavity, is a spherical surface.

Has the beneficial effects that: because the spherical surface is comparatively smooth, the thimble is difficult to cause wearing and tearing to the object when the tight object in top.

Further, the size of the air cavity in the thimble sliding direction is smaller than or equal to the length size of the thimble, so that the thimble is prevented from being pulled out of the mounting hole when the thimble slides inwards.

Has the beneficial effects that: the arrangement can utilize the inner wall surface of the air cavity to limit the ejector pin, so that the ejector pin is ensured to be reliably and slidably mounted in the mounting hole, and the reliability of the pneumatic manipulator in use is improved.

Further, the mounting plate is a flat plate.

Has the beneficial effects that: the mounting panel can make the processing of mounting hole more convenient for the flat board.

Further, the mounting holes are evenly spaced on the mounting plate and are arranged in an array.

Has the beneficial effects that: the mounting hole is arranged in such a way that firstly, the processing is convenient, secondly, the force application to the object is more uniform when the thimble in the mounting hole is used for jacking the object, and the object is not easy to damage.

Furthermore, the closed shell comprises a box body and a box cover which is used for being fixed on the box body in a covering mode, and the box cover forms the mounting plate.

Has the beneficial effects that: when the pneumatic manipulator is assembled, the ejector pins are inserted into the mounting holes in the box cover, and then the box cover is fixed on the box body in a covering mode.

Further, the air inlet is arranged opposite to the mounting plate.

Has the advantages that: the air inlet is arranged opposite to the mounting plate, so that the air can directly impact the mounting plate after entering the air cavity, the loss of kinetic energy of the air in the flowing process is reduced, and the pushing effect of the air on the ejector pin is improved.

Furthermore, an air inlet pipe is arranged on the closed shell, one end of the air inlet pipe is communicated with the air cavity, and the other end of the air inlet pipe extends out of the closed shell to form the air inlet hole.

Has the advantages that: the air inlet pipe can be conveniently connected with an air supply device.

Furthermore, a copper sleeve is embedded in the mounting hole, so that the ejector pin is slidably assembled in the mounting hole through the copper sleeve.

Has the advantages that: the friction of the ejector pin in the sliding process can be reduced due to the arrangement of the copper sleeve, so that the ejector pin can slide more smoothly in the mounting hole.

Further, the stopping structure is an annular stopping edge.

Has the beneficial effects that: the annular flange is simple in structure and convenient to process.

Drawings

FIG. 1 is a structural exploded view of the pneumatic manipulator of the present invention;

fig. 2 is a schematic structural view of the pneumatic manipulator of the present invention;

FIG. 3 is a schematic view of the state of the pneumatic manipulator clamping the special-shaped product;

fig. 4 is a schematic diagram of the state of the pneumatic manipulator of the present invention for taking out the product.

The names of the components corresponding to the corresponding reference numerals in the drawings are:

1. a box body; 11. an air inlet pipe; 12. an air inlet; 2. a box cover; 21. mounting holes; 22. a thimble; 23. an annular flange; 3. special-shaped products; 4. a product basket; 41. and (3) cylindrical products.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention, i.e., the described embodiments are only some, but not all embodiments of the invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

It is noted that, in the embodiments of the present invention, relational terms such as "first" and "second", and the like, which may be present in the embodiments, are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between the entities or operations. Also, terms such as "comprises," "comprising," or any other variation thereof, which may be present, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the statement that "comprises a … …" or the like may occur does not preclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

In the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" as may be used herein are to be construed broadly, e.g., as being fixed or releasably connected or integrally connected; can be mechanically or electrically connected; either directly or indirectly through intervening media, or may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art through specific situations.

In the description of the present invention, unless otherwise explicitly specified or limited, the term "provided" may be used in a broad sense, for example, the object of "provided" may be a part of the body, or may be arranged separately from the body and connected to the body, and the connection may be a detachable connection or a non-detachable connection. The specific meaning of the above terms in the present invention can be understood by those skilled in the art from the specific situation.

The present invention will be described in further detail with reference to examples.

The utility model discloses embodiment 1 of well pneumatic manipulator:

as shown in fig. 1 and fig. 2, the pneumatic manipulator provided in this embodiment includes a sealed housing having an air cavity therein, a mounting plate is provided on the sealed housing, a plurality of mounting holes 21 communicated with the air cavity are disposed on the mounting plate, a thimble 22 is slidably inserted into each mounting hole 21, and an air inlet 12 communicated with the air cavity is provided on the sealed housing. When the object is clamped, the air inlet 12 is communicated with the air supply device, the air supply device inputs air into the air cavity through the air inlet 12, and the thimble 22 is pushed by the air to slide outwards to tightly push the object, so that the object is clamped.

In this embodiment, as shown in fig. 1 and 2, the sealed housing includes a housing 1 and a cover 2 for covering and fixing the housing 1, an air chamber is formed inside the housing 1, and the mounting plate is formed by the cover 2. In addition, in order to facilitate the arrangement of the mounting holes 21, the box cover 2 is of a flat plate structure, and the mounting holes 21 are uniformly spaced on the box cover 2 and are arranged in an array.

In this embodiment, as shown in fig. 1 and fig. 2, an ejector pin 22 is slidably mounted in each mounting hole 21, and each ejector pin 22 is in sealing fit with the corresponding mounting hole 21 to prevent gas from flowing out through a gap between the ejector pin 22 and the mounting hole 21. In order to reduce the friction force applied to the ejector pins 22 in the sliding process, a copper sleeve is embedded in each mounting hole 21, and each ejector pin 22 is slidably assembled in the corresponding mounting hole 21 through the copper sleeve. In addition, in order to reduce the abrasion of the thimble 22 to the object when the thimble is tightly pushed against the object, the end surface of the thimble 22 facing away from the air cavity is a spherical surface.

In this embodiment, in order to prevent the thimble 22 from being removed from the mounting hole 21 when sliding outward, as shown in fig. 1, one end of the thimble 22 facing the air cavity is disposed to extend into the air cavity, and a stop structure is disposed on the end, and the stop structure is specifically an annular rib 23, and a radial dimension of the annular rib 23 is greater than a radial dimension of the mounting hole 21, so as to prevent the thimble 22 from being removed from the mounting hole 21. In addition, in order to prevent the thimble 22 from being removed from the mounting hole 21 when the thimble 22 slides inward, the size of the air cavity in the sliding direction of the thimble 22 is smaller than the length of the thimble 22, so that the inner wall surface of the air cavity, which is opposite to the thimble 22, limits the thimble 22.

In this embodiment, as shown in fig. 1 and 2, an air inlet pipe 11 is provided on the box body 1, one end of the air inlet pipe 11 is communicated with the air cavity, and the other end extends out of the closed shell to form an air inlet hole 12. To ensure the pushing effect of the air on the thimble 22, the air inlet pipe 11 is disposed at the bottom of the box body 1, so that the air inlet hole 12 is disposed opposite to the box cover 2.

The process that the pneumatic manipulator clamp got special-shaped product 3 that this embodiment provided is as follows: as shown in fig. 3, two sets of pneumatic manipulators are respectively arranged on two opposite sides of the special-shaped product 3, the box covers 2 of the two pneumatic manipulators are oppositely arranged, then the air inlets 12 on the two pneumatic manipulators are communicated with an air supply device, the air supply device inputs air to the air cavities in the two pneumatic manipulators through the air inlets 12, the air pushes the ejector pins 22 on the corresponding box covers 2 to slide outwards, the distance between the two pneumatic manipulators is adjusted, and the ejector pins 22 are tightly pressed on the periphery of the special-shaped product 3, so that the special-shaped product 3 is clamped.

In the pneumatic manipulator provided in this embodiment, each of the ejector pins 22 is independently pressed, so that when the corresponding ejector pin 22 slides outwards to tightly push against an object, the object can also exert a reaction force on the ejector pin 22, so that the ejector pin 22 slides inwards under the reaction force of the object, and thus the ejector pin 22 can adaptively adjust the sliding amount thereof according to the shapes of different objects, and each ejector pin 22 can reliably contact with the object when pushing against the object with an irregular shape, thereby ensuring reliable clamping of the object. In addition, because the thimble 22 is pushed by air to tightly push the object, the pushing force of the thimble 22 to the object is a flexible force, which reduces the damage to the object when the object is gripped.

In this embodiment, the pneumatic manipulator can adjust the extension force of the thimble 22 by controlling the air pressure in the air cavity, so as to clamp different objects.

In addition, as shown in fig. 4, the pneumatic manipulator provided in this embodiment may also be used to take out products from the product basket 4, specifically, in the taking out process, a cylindrical product 41 is placed in the product basket 4, the mounting plate of the pneumatic manipulator is arranged toward the bottom of the product basket 4, then the air inlet 12 on the pneumatic manipulator is communicated with the air supply device, the air supply device inputs air to the air cavity in the pneumatic manipulator through the air inlet 12, the air pushes the thimble 22 on the box cover 2 to slide outwards, and the thimble 22 extends into the product basket 4 to push out the cylindrical product 41. It should be noted that, during the process of sliding the thimble 22 outwards, a part of the thimble 22 will be blocked by the bottom plate of the product basket 4 and cannot extend into the product basket 4, which will not affect the normal use of the pneumatic manipulator.

In other embodiments of the pneumatic manipulator, the mounting hole is not embedded with a copper sleeve, and the thimble is directly and slidably assembled in the mounting hole. When the friction resistance is large, the friction of the thimble in the sliding process can be reduced by smearing lubricating oil in the mounting hole.

In other embodiments of the pneumatic manipulator, the closing housing is not provided with an air inlet, which is directly arranged on the corresponding side wall of the closing housing.

In other embodiments of the pneumatic manipulator, the air inlet is not aligned with the lid, and the air inlet is disposed on the sidewall of the box.

In other embodiments of the pneumatic manipulator, the closed housing comprises a box and a lid, the mounting plate being formed by a bottom wall of the box. Alternatively, the mounting plate is formed by a side wall of the box body.

In other embodiments of the pneumatic manipulator, the enclosure housing does not include a box and a lid, and the enclosure housing is a one-piece housing. Be equipped with the pilot hole on the mounting panel of seal housing, the removable check sleeve that inlays of pilot hole department is equipped with, and the hole of check sleeve forms the mounting hole, and the radial dimension of pilot hole is greater than the size that keeps off the structure on the thimble, and the radial dimension of mounting hole is less than the size that keeps off the structure on the thimble. When the thimble is installed, the limiting sleeve is taken down firstly, the limiting sleeve is sleeved on the thimble, and then the limiting sleeve and the thimble are installed in the assembling hole simultaneously.

In other embodiments of the pneumatic manipulator, the stopping structure is a stopping rod, and the stopping rod extends along the radial direction of the thimble and has a length greater than the radial dimension of the mounting hole.

In other embodiments of the pneumatic manipulator, the mounting holes are non-uniformly spaced on the mounting plate.

In other embodiments of the pneumatic manipulator, the mounting plate is an arcuate plate. Or, the mounting panel is the U-shaped board, when pressing from both sides and getting the product, makes the both sides board of relative arrangement on the U-shaped board be located the product both sides, promotes the tight product in thimble top on the both sides board through gas to accomplish the clamp of getting the product, only need a pneumatic manipulator can accomplish the clamp of getting the product this moment.

In other embodiments of the pneumatic manipulator, the size of the air cavity in the sliding direction of the ejector pin is equal to the length of the ejector pin. Or the size of the air cavity in the sliding direction of the ejector pin is larger than the length size of the ejector pin, in order to limit the ejector pin, an inner limiting flange is arranged at the orifice of one end, facing the air cavity, of the mounting orifice, an outer limiting flange is arranged at the orifice of one end, facing away from the air cavity, of the mounting orifice, an annular flange in stop fit with the inner limiting flange and the outer limiting flange is arranged on the ejector pin, and the inner limiting flange and the outer limiting flange respectively limit the ejector pin in the sliding direction of the ejector pin, so that the ejector pin is reliably assembled in the mounting hole in a sliding mode. Of course, the inner limit rib can be cancelled, so that the mounting hole only limits the thimble when the thimble slides outwards.

In other embodiments of the pneumatic manipulator, the end surface of the thimble facing away from the air cavity is a plane.

The above description is only for the preferred embodiment of the present invention, and the present invention is not limited thereto, the protection scope of the present invention is defined by the claims, and all structural changes equivalent to the contents of the description and drawings of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The pneumatic manipulator is characterized by comprising a closed shell with an air cavity inside, wherein the closed shell is provided with a mounting plate, the mounting plate is provided with a plurality of mounting holes (21) communicated with the air cavity, ejector pins (22) are slidably mounted in the mounting holes (21), and the ejector pins (22) are in sealing fit with the mounting holes (21); one end of each thimble (22) facing the air cavity extends into the air cavity and is provided with a stop structure to prevent the thimble (22) from being separated from the mounting hole (21) when sliding outwards; an air inlet hole (12) communicated with the air cavity is formed in the closed shell, the air inlet hole (12) is communicated with the air supply device so as to input air into the air cavity through the air supply device, and when an object is clamped, the ejector pin (22) is pushed by the air to slide outwards so that the ejector pin (22) can be used for tightly pushing the object.

2. An air manipulator according to claim 1, wherein the end surface of the thimble (22) facing away from the air cavity is spherical.

3. A pneumatic manipulator according to claim 1, wherein the dimensions of the air chamber in the direction of sliding of the thimble (22) are less than or equal to the length of the thimble (22) to prevent the thimble (22) from being removed from the mounting hole (21) when it is slid inwards.

4. A pneumatic manipulator according to claim 1, 2 or 3, wherein the mounting plate is a flat plate.

5. A pneumatic manipulator according to claim 4, wherein the mounting holes (21) are evenly spaced and arranged in an array on the mounting plate.

6. Pneumatic manipulator according to claim 1 or 2 or 3, wherein the closed housing comprises a box body (1) and a box cover (2) for covering and fixing to the box body (1), the box cover (2) forming said mounting plate.

7. Pneumatic manipulator according to claim 1 or 2 or 3, characterized in that the inlet holes (12) are arranged opposite the mounting plate.

8. The pneumatic manipulator according to claim 1, 2 or 3, wherein the closed shell is provided with an air inlet pipe (11), one end of the air inlet pipe (11) is communicated with the air cavity, and the other end of the air inlet pipe extends out of the closed shell to form the air inlet hole.

9. The pneumatic manipulator according to claim 1, 2 or 3, wherein a copper bush is fitted into the mounting hole (21) so that the ejector pin (22) is slidably fitted into the mounting hole (21) through the copper bush.

10. Pneumatic manipulator according to claim 1 or 2 or 3, wherein the stop structure is an annular rib (23).

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