Novel pneumatic manipulator

[0035] Example 1: Such as Figure 1-8 As shown, a new type of pneumatic manipulator includes a base 1, a manipulator arm 3, and a manipulator claw 5. The base 1 and the manipulator arm 3 are connected together by a hexagon socket screw I2, and the manipulator arm 3 and the manipulator claw 5 pass The connecting bolt 4 is connected as a whole.

[0036] The base 1 includes a servo motor 6, a drive gear 7, a base body 8, a lock nut I 9, a large gear 10, a shaft sleeve 11, a thrust bearing 12, a positioning spacer 13, a rotating main shaft 14, an angular contact bearing 15, and a bearing end Cover I16; the servo motor 6 is installed on the base body 8 through a threaded connection, the drive gear 7 is sleeved on the drive shaft end of the servo motor 6, the thrust bearing 12 is installed in the upper cavity of the base body 8, and the positioning spacer 13 is installed in the thrust Above the bearing 12, the angular contact bearing 15 is installed above the positioning spacer 13, the rotating main shaft 14 is installed in the inner hole of the thrust bearing 12 and the angular contact bearing 15 and positioned, and the bearing end cover I16 is installed above the angular contact bearing 15 and the rotating main shaft 14 Further fix, install the shaft sleeve 11 directly below the thrust bearing 12, install the large gear 10 on the lower shaft end of the rotating main shaft 14 and perform axial positioning through the shaft sleeve 11, install the lock nut I9 on the rotating main shaft 14 and align the large gear 10 Perform axial locking and fixation.

[0037] The manipulator arm 3 includes the lower cover of the rotating seat 17, the hinge pin Ⅰ18, the upper cover of the rotating seat 19, the hexagon socket screw Ⅱ20, the arm drive cylinder 21, the manipulator arm 22, the hinge pin Ⅱ23, the hinge pin Ⅲ24, and the arm drive cylinder 25. Balance lever 26, hinge pin Ⅳ 27, hinge pin Ⅴ 28, tie rod connecting plate 29, forearm shaft 30, bearing end cover Ⅱ 31, hinge pin Ⅵ 32, parallel lever 33, manipulator arm 34, hinge pin Ⅶ 35, manipulator connecting rod Ⅰ 36 , Claw fixing ring Ⅰ 37, hand claw fixing ring Ⅱ 38, manipulator connecting rod Ⅱ 39, hinge pin Ⅷ 40, bearing end cover Ⅲ 41, boom main shaft 42, hinge pin Ⅸ 43, boom bearing 44, arm bearing 45; the rotating seat is under Hinge pin I18 is installed on the cover 17, the boom drive cylinder 21 is installed on the hinge pin I18, a pair of boom bearings 44 are installed stepwise to the boom spindle 42, and the robot boom 22 is installed on the boom spindle 42, the boom spindle The shaft center of 42 coincides with the center surface of the groove of the lower cover 17 of the rotating seat. A pair of bearing end covers Ⅲ 41 are installed on the left and right sides of the boom spindle 42. The upper cover 19 of the rotating seat is installed above the lower cover 17 of the rotating seat and connected by a set of hexagon socket screws Ⅱ 20 Fasten the two, install the piston end earring of the boom drive cylinder 21 to the slot in the middle of the manipulator boom 22 and articulate it through hinge pin Ⅱ23, install the tail earring of the arm drive cylinder 25 to the small slot in the middle of the manipulator boom 22 Hinge pin Ⅲ24 is hinged and assembled, the balance lever 26 is installed on the upper cover 19 of the rotating seat and hinged and assembled by the hinge pin Ⅸ43, a pair of lever connecting plates 29 and the robot arm 34 are installed in the end groove of the robot arm 22 and passed through the arm axis 30 articulated assembly, at the same time install a pair of forearm bearings 45 and bearing end cover Ⅱ31 on the stepped shafts at both ends of the forearm shaft 30 and position them, install the balance tie rod 26 on the tie rod connecting plate 29 and hinge assembly through hinge pin Ⅴ28, install The piston end earring of the forearm driving cylinder 25 is mounted in the rear groove of the forearm 34 of the manipulator and is hinged and assembled by hinge pin Ⅳ27. The parallel tie rod 33 is mounted on the tie rod connecting plate 29 and hinged and assembled with hinge pin Ⅵ32. The tail of 33 is hinged and assembled by hinge pin Ⅶ35, the claw fixing ring Ⅰ37 is matched with the manipulator connecting rod Ⅰ36, and the manipulator connecting rod Ⅱ39 is installed at the end of the manipulator arm 34 and hinged and assembled by hinge pin Ⅷ40. Connecting rod Ⅱ39 is matched and installed.

[0038] The manipulator claw 5 includes a claw drive cylinder 46, a claw connecting seat 47, a push-pull rod 48, a push-pull head 49, a locking pad 50, a locking nut II 51, a pawl mounting seat 52, a polyester rubber pad 53, a hinge Pin Ⅹ54, hinge pin Ⅺ55, manipulator claw 56, manipulator sub-knuckle 57, mechanical finger joint 58, hinge pin Ⅻ59, hinge pin ⅩⅢ60, hinge pin ⅩⅣ61, hinge 62, mounting sleeve 63, loose spring 64, joint seat 65 , The claw drive cylinder piston rod 66; the claw drive cylinder 46 is installed on the claw connecting seat 47, the claw drive cylinder piston rod 66 and the push-pull rod 48 are connected through the joint seat 65; the installation sleeve 63 is located outside the joint seat 65 , The relaxation spring 64 is installed in the installation sleeve 63 and is in contact with the push-pull rod 48 and the installation sleeve 63 at the same time; the push-pull head 49 is installed at the lower end of the push-pull rod 48 and is fastened to the push-pull rod by the lock pad 50 and the lock nut Ⅱ 51 On the pull rod 48, three hinges 62 are mounted on the push-pull head 49 and hingedly mounted by hinge pins XIV61, the paw mounting base 52 is mounted on the paw connecting base 47, and three mechanical finger joints 58 are mounted on the paw mounting base 52 and Hinge installation through hinge pin ⅩⅢ60, install three manipulator sub-knuckles 57 on the pawl mounting seat 52 and hingedly install through hinge pin Ⅻ59, connect the three manipulator claws 56 and use hinge pin Ⅹ54 and hinge pin Ⅺ55 respectively The joint 57 and the mechanical finger joint 58 are hingedly installed, and the polyester rubber pad 53 is attached to the working surface of the manipulator claw 56.

[0039] The manipulator arm 3 and the manipulator claw 5 can realize a workpiece rotation angle of 0° (that is, 360°).

[0040] The pull rod connecting plate 29, the parallel pull rod 33, and the manipulator arm 34 are hinged and assembled by hinge pins to form a parallel four-bar mechanism.

[0041] The manipulator connecting rod I36 and the manipulator connecting rod II39 always maintain a horizontal posture when the manipulator is working.

[0042] The pawl mounting seat 52, the manipulator claw 56, the manipulator secondary knuckle 57 and the manipulator finger section 58 are hinged and assembled by hinge pins to form a parallel four-bar mechanism for controlling the operating posture of the manipulator pawl 5.

[0043] The working surface of the manipulator claw 56 always maintains a vertical posture when the manipulator is working.

[0044] Example 2: Such as Figure 1-8 As shown, a new type of pneumatic manipulator includes a base 1, a manipulator arm 3, and a manipulator claw 5. The base 1 and the manipulator arm 3 are connected together by a hexagon socket screw I2, and the manipulator arm 3 and the manipulator claw 5 pass The connecting bolt 4 is connected as a whole.

[0045] The base 1 includes a servo motor 6, a drive gear 7, a base body 8, a lock nut I 9, a large gear 10, a shaft sleeve 11, a thrust bearing 12, a positioning spacer 13, a rotating main shaft 14, an angular contact bearing 15, and a bearing end Cover I16; the servo motor 6 is installed on the base body 8 through a threaded connection, the drive gear 7 is sleeved on the drive shaft end of the servo motor 6, the thrust bearing 12 is installed in the upper cavity of the base body 8, and the positioning spacer 13 is installed in the thrust Above the bearing 12, the angular contact bearing 15 is installed above the positioning spacer 13, the rotating main shaft 14 is installed in the inner hole of the thrust bearing 12 and the angular contact bearing 15 and positioned, and the bearing end cover I16 is installed above the angular contact bearing 15 and the rotating main shaft 14 Further fix, install the shaft sleeve 11 directly below the thrust bearing 12, install the large gear 10 on the lower shaft end of the rotating main shaft 14 and perform axial positioning through the shaft sleeve 11, install the lock nut I9 on the rotating main shaft 14 and align the large gear 10 Perform axial locking and fixation.

[0046] The manipulator arm 3 includes the lower cover of the rotating seat 17, the hinge pin Ⅰ18, the upper cover of the rotating seat 19, the hexagon socket screw Ⅱ20, the arm drive cylinder 21, the manipulator arm 22, the hinge pin Ⅱ23, the hinge pin Ⅲ24, and the arm drive cylinder 25. Balance lever 26, hinge pin Ⅳ 27, hinge pin Ⅴ 28, tie rod connecting plate 29, forearm shaft 30, bearing end cover Ⅱ 31, hinge pin Ⅵ 32, parallel lever 33, manipulator arm 34, hinge pin Ⅶ 35, manipulator connecting rod Ⅰ 36 , Claw fixing ring Ⅰ 37, hand claw fixing ring Ⅱ 38, manipulator connecting rod Ⅱ 39, hinge pin Ⅷ 40, bearing end cover Ⅲ 41, boom main shaft 42, hinge pin Ⅸ 43, boom bearing 44, arm bearing 45; the rotating seat is under Hinge pin I18 is installed on the cover 17, the boom drive cylinder 21 is installed on the hinge pin I18, a pair of boom bearings 44 are installed stepwise to the boom spindle 42, and the robot boom 22 is installed on the boom spindle 42, the boom spindle The shaft center of 42 coincides with the center surface of the groove of the lower cover 17 of the rotating seat. A pair of bearing end covers Ⅲ 41 are installed on the left and right sides of the boom spindle 42. The upper cover 19 of the rotating seat is installed above the lower cover 17 of the rotating seat and connected by a set of hexagon socket screws Ⅱ 20 Fasten the two, install the piston end earring of the boom drive cylinder 21 to the slot in the middle of the manipulator boom 22 and articulate it through hinge pin Ⅱ23, install the tail earring of the arm drive cylinder 25 to the small slot in the middle of the manipulator boom 22 Hinge pin Ⅲ24 is hinged and assembled, the balance lever 26 is installed on the upper cover 19 of the rotating seat and hinged and assembled by the hinge pin Ⅸ43, a pair of lever connecting plates 29 and the robot arm 34 are installed in the end groove of the robot arm 22 and passed through the arm axis 30 articulated assembly, at the same time install a pair of forearm bearings 45 and bearing end cover Ⅱ31 on the stepped shafts at both ends of the forearm shaft 30 and position them, install the balance tie rod 26 on the tie rod connecting plate 29 and hinge assembly through hinge pin Ⅴ28, install The piston end earring of the forearm driving cylinder 25 is mounted in the rear groove of the forearm 34 of the manipulator and is hinged and assembled by hinge pin Ⅳ27. The parallel tie rod 33 is mounted on the tie rod connecting plate 29 and hinged and assembled with hinge pin Ⅵ32. The tail of 33 is hinged and assembled by hinge pin Ⅶ35, the claw fixing ring Ⅰ37 is matched with the manipulator connecting rod Ⅰ36, and the manipulator connecting rod Ⅱ39 is installed at the end of the manipulator arm 34 and hinged and assembled by hinge pin Ⅷ40. Connecting rod Ⅱ39 is matched and installed.

[0047] The manipulator claw 5 includes a claw drive cylinder 46, a claw connecting seat 47, a push-pull rod 48, a push-pull head 49, a locking pad 50, a locking nut II 51, a pawl mounting seat 52, a polyester rubber pad 53, a hinge Pin Ⅹ54, hinge pin Ⅺ55, manipulator claw 56, manipulator sub-knuckle 57, mechanical finger joint 58, hinge pin Ⅻ59, hinge pin ⅩⅢ60, hinge pin ⅩⅣ61, hinge 62, mounting sleeve 63, loose spring 64, joint seat 65 , The claw drive cylinder piston rod 66; the claw drive cylinder 46 is installed on the claw connecting seat 47, the claw drive cylinder piston rod 66 and the push-pull rod 48 are connected through the joint seat 65; the installation sleeve 63 is located outside the joint seat 65 , The relaxation spring 64 is installed in the installation sleeve 63 and is in contact with the push-pull rod 48 and the installation sleeve 63 at the same time; the push-pull head 49 is installed at the lower end of the push-pull rod 48 and is fastened to the push-pull rod by the lock pad 50 and the lock nut Ⅱ 51 On the pull rod 48, three hinges 62 are mounted on the push-pull head 49 and hingedly mounted by hinge pins XIV61, the paw mounting base 52 is mounted on the paw connecting base 47, and three mechanical finger joints 58 are mounted on the paw mounting base 52 and Hinge installation through hinge pin ⅩⅢ60, install three manipulator sub-knuckles 57 on the pawl mounting seat 52 and hingedly install through hinge pin Ⅻ59, connect the three manipulator claws 56 and use hinge pin Ⅹ54 and hinge pin Ⅺ55 respectively The joint 57 and the mechanical finger joint 58 are hingedly installed, and the polyester rubber pad 53 is attached to the working surface of the manipulator claw 56.

[0048] The manipulator arm 3 and the manipulator claw 5 can realize a workpiece rotation angle of 120°.

[0049] The pull rod connecting plate 29, the parallel pull rod 33, and the manipulator arm 34 are hinged and assembled by hinge pins to form a parallel four-bar mechanism.

[0050] The manipulator connecting rod I36 and the manipulator connecting rod II39 always maintain a horizontal posture when the manipulator is working.

[0051] The pawl mounting seat 52, the manipulator claw 56, the manipulator secondary knuckle 57 and the manipulator finger section 58 are hinged and assembled by hinge pins to form a parallel four-bar mechanism for controlling the operating posture of the manipulator pawl 5.

[0052] The working surface of the manipulator claw 56 always maintains a vertical posture when the manipulator is working.

[0053] Example 3: Such as Figure 1-8 As shown, a new type of pneumatic manipulator includes a base 1, a manipulator arm 3, and a manipulator claw 5. The base 1 and the manipulator arm 3 are connected together by a hexagon socket screw I2, and the manipulator arm 3 and the manipulator claw 5 pass The connecting bolt 4 is connected as a whole.

[0054] The base 1 includes a servo motor 6, a drive gear 7, a base body 8, a lock nut I 9, a large gear 10, a shaft sleeve 11, a thrust bearing 12, a positioning spacer 13, a rotating main shaft 14, an angular contact bearing 15, and a bearing end Cover I16; the servo motor 6 is installed on the base body 8 through a threaded connection, the drive gear 7 is sleeved on the drive shaft end of the servo motor 6, the thrust bearing 12 is installed in the upper cavity of the base body 8, and the positioning spacer 13 is installed in the thrust Above the bearing 12, the angular contact bearing 15 is installed above the positioning spacer 13, the rotating main shaft 14 is installed in the inner hole of the thrust bearing 12 and the angular contact bearing 15 and positioned, and the bearing end cover I16 is installed above the angular contact bearing 15 and the rotating main shaft 14 Further fix, install the shaft sleeve 11 directly below the thrust bearing 12, install the large gear 10 on the lower shaft end of the rotating main shaft 14 and perform axial positioning through the shaft sleeve 11, install the lock nut I9 on the rotating main shaft 14 and align the large gear 10 Perform axial locking and fixation.

[0055] The manipulator arm 3 includes the lower cover of the rotating seat 17, the hinge pin Ⅰ18, the upper cover of the rotating seat 19, the hexagon socket screw Ⅱ20, the arm drive cylinder 21, the manipulator arm 22, the hinge pin Ⅱ23, the hinge pin Ⅲ24, and the arm drive cylinder 25. Balance lever 26, hinge pin Ⅳ 27, hinge pin Ⅴ 28, tie rod connecting plate 29, forearm shaft 30, bearing end cover Ⅱ 31, hinge pin Ⅵ 32, parallel lever 33, manipulator arm 34, hinge pin Ⅶ 35, manipulator connecting rod Ⅰ 36 , Claw fixing ring Ⅰ 37, hand claw fixing ring Ⅱ 38, manipulator connecting rod Ⅱ 39, hinge pin Ⅷ 40, bearing end cover Ⅲ 41, boom main shaft 42, hinge pin Ⅸ 43, boom bearing 44, arm bearing 45; the rotating seat is under Hinge pin I18 is installed on the cover 17, the boom drive cylinder 21 is installed on the hinge pin I18, a pair of boom bearings 44 are installed stepwise to the boom spindle 42, and the robot boom 22 is installed on the boom spindle 42, the boom spindle The shaft center of 42 coincides with the center surface of the groove of the lower cover 17 of the rotating seat. A pair of bearing end covers Ⅲ 41 are installed on the left and right sides of the boom spindle 42. The upper cover 19 of the rotating seat is installed above the lower cover 17 of the rotating seat and connected by a set of hexagon socket screws Ⅱ 20 Fasten the two, install the piston end earring of the boom drive cylinder 21 to the slot in the middle of the manipulator boom 22 and articulate it through hinge pin Ⅱ23, install the tail earring of the arm drive cylinder 25 to the small slot in the middle of the manipulator boom 22 Hinge pin Ⅲ24 is hinged and assembled, the balance lever 26 is installed on the upper cover 19 of the rotating seat and hinged and assembled by the hinge pin Ⅸ43, a pair of lever connecting plates 29 and the robot arm 34 are installed in the end groove of the robot arm 22 and passed through the arm axis 30 articulated assembly, at the same time install a pair of forearm bearings 45 and bearing end cover Ⅱ31 on the stepped shafts at both ends of the forearm shaft 30 and position them, install the balance tie rod 26 on the tie rod connecting plate 29 and hinge assembly through hinge pin Ⅴ28, install The piston end earring of the forearm driving cylinder 25 is mounted in the rear groove of the forearm 34 of the manipulator and is hinged and assembled by hinge pin Ⅳ27. The parallel tie rod 33 is mounted on the tie rod connecting plate 29 and hinged and assembled with hinge pin Ⅵ32. The tail of 33 is hinged and assembled by hinge pin Ⅶ35, the claw fixing ring Ⅰ37 is matched with the manipulator connecting rod Ⅰ36, and the manipulator connecting rod Ⅱ39 is installed at the end of the manipulator arm 34 and hinged and assembled by hinge pin Ⅷ40. Connecting rod Ⅱ39 is matched and installed.

[0056] The manipulator claw 5 includes a claw drive cylinder 46, a claw connecting seat 47, a push-pull rod 48, a push-pull head 49, a locking pad 50, a locking nut II 51, a pawl mounting seat 52, a polyester rubber pad 53, a hinge Pin Ⅹ54, hinge pin Ⅺ55, manipulator claw 56, manipulator sub-knuckle 57, mechanical finger joint 58, hinge pin Ⅻ59, hinge pin ⅩⅢ60, hinge pin ⅩⅣ61, hinge 62, mounting sleeve 63, loose spring 64, joint seat 65 , The claw drive cylinder piston rod 66; the claw drive cylinder 46 is installed on the claw connecting seat 47, the claw drive cylinder piston rod 66 and the push-pull rod 48 are connected through the joint seat 65; the installation sleeve 63 is located outside the joint seat 65 , The relaxation spring 64 is installed in the installation sleeve 63 and is in contact with the push-pull rod 48 and the installation sleeve 63 at the same time; the push-pull head 49 is installed at the lower end of the push-pull rod 48 and is fastened to the push-pull rod by the lock pad 50 and the lock nut Ⅱ 51 On the pull rod 48, three hinges 62 are mounted on the push-pull head 49 and hingedly mounted by hinge pins XIV61, the paw mounting base 52 is mounted on the paw connecting base 47, and three mechanical finger joints 58 are mounted on the paw mounting base 52 and Hinge installation through hinge pin ⅩⅢ60, install three manipulator sub-knuckles 57 on the pawl mounting seat 52 and hingedly install through hinge pin Ⅻ59, connect the three manipulator claws 56 and use hinge pin Ⅹ54 and hinge pin Ⅺ55 respectively The joint 57 and the mechanical finger joint 58 are hingedly installed, and the polyester rubber pad 53 is attached to the working surface of the manipulator claw 56.

[0057] The manipulator arm 3 and the manipulator claw 5 can realize a workpiece rotation angle of 240°.

[0058] The pull rod connecting plate 29, the parallel pull rod 33, and the manipulator arm 34 are hinged and assembled by hinge pins to form a parallel four-bar mechanism.

[0059] The manipulator connecting rod I36 and the manipulator connecting rod II39 always maintain a horizontal posture when the manipulator is working.

[0060] The pawl mounting seat 52, the manipulator claw 56, the manipulator secondary knuckle 57 and the manipulator finger section 58 are hinged and assembled by hinge pins to form a parallel four-bar mechanism for controlling the operating posture of the manipulator pawl 5.

[0061] The working surface of the manipulator claw 56 always maintains a vertical posture when the manipulator is working.