Vacuum adsorption type manipulator

Abstract

The invention discloses a vacuum adsorption type manipulator which comprises a large-arm shell, a first hollow shaft, a small-arm shell, a second hollow shaft, a lower swing sleeve, an air pipe, a wire protection disk, an air pipe fixing ring, a first air pipe pressing plate, a second air pipe pressing plate, a first air pipe separation frame, a second air pipe separation frame, a third air pipe separation frame and a wire clamp, wherein the air pipe fixing ring, the first air pipe separation frame and the first air pipe pressing plate are arranged in the large-arm shell; the second air pipe separation frame, the third air pipe separation frame and the second air pipe pressing plate are arranged in the small-arm shell; the air pipe enters the shoulder part of the large-arm shell through the wire protection disk, then enters the small-arm shell through the air pipe fixing ring, the first air pipe separation frame, the first air pipe pressing plate and the first hollow shaft in sequence, enters the lower swing sleeve through the second air pipe separation frame, the third air pipe separation frame, the second air pipe pressing plate and the second hollow shaft in sequence and is finally fixed through the wire clamp.

Description

Technical field [0001] The invention relates to a manipulator, in particular to a vacuum adsorption manipulator. Background technique [0002] The vacuum suction manipulator requires a trachea that runs through the robot arm. Therefore, the direction of the trachea, especially the route from the shoulder to the elbow of the robot, has always been a difficult point in the design of the vacuum suction manipulator. In the prior art, the air pipe arrangement is generally as follows: a semi-circular notch is provided at the lower part of the manipulator boom housing, or an air guide ring is provided at the shoulder pulley of the manipulator boom. In the first method, opening the gap in the manipulator arm shell not only seriously affects the strength of the manipulator arm shell, but also provides an additional stopper to protect the air pipe, which increases the design difficulty of the manipulator structure; the latter adopts guide Although the air ring removes the gap of the boom ...

AI Technical Summary

Problems solved by technology

In the first way, the opening of the arm shell of the manipulator not only seriously affects the strength of the arm shell of the manipulator, but also sets an additional stopper for the protective air pipe, which increases the difficulty of the design of the manipulator structure; Although the air ring removes the gap of the arm shell and solves the problem of affecting the strength of the arm shell, the addition of the air guide ring structure not only makes the structure of the manipulator more complicated, but also increases the overall height of the arm shell, and the air pipe It must pass through the long hole of the air tube, and then coil on the air guide ring and the elbow pulley, which will easily cause the trachea to be compressed and cause the trachea to be blocked. At the same time, the trachea is coiled back and forth on the ring, which is prone to scratches and wear

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