A gas-driven three-degree-of-freedom manipulator

Abstract

The present application relates to a gas-driven three-degree-of-freedom manipulator, and relates to the technical field of manipulators. The manipulator includes a first-axis driving mechanism, a second-axis driving mechanism, a third-axis driving mechanism, and a clamping jaw, wherein the first-axis driving mechanism, the second-axis driving mechanism, the third-axis driving mechanism, and the clamping jaw are connected in sequence; the first-axis driving mechanism, the second-axis driving mechanism, and the third-axis driving mechanism have the same structure; the first-axis driving mechanism includes a connecting slide and a plurality of pneumatic drivers, the connecting slide is connected to the second-axis driving mechanism, and a plurality of pneumatic drivers are connected in sequence along their own length direction, a connecting mechanism is provided on the connecting slide, and there is a pneumatic driver connected to the connecting mechanism, and when the corresponding pneumatic driver moves through a full stroke, the connecting mechanism is automatically separated from the corresponding pneumatic driver and automatically connected to another adjacent pneumatic driver. The present application can improve the positioning accuracy of the gas-driven three-degree-of-freedom manipulator.

Description

Technical Field

[0001] The present application relates to the technical field of manipulators, and in particular to a gas-driven three-degree-of-freedom manipulator. Background Art

[0002] A manipulator is an automatic operating device that can imitate certain movements of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. This makes manipulators widely used in cargo handling, automatic production lines and other related fields.

[0003] The more common manipulator is the three-degree-of-freedom manipulator, which includes a three-axis drive platform and a gripper. The three-axis drive platform drives the gripper to move horizontally, longitudinally and vertically, which enables the gripper to carry goods, grab items or operate tools within the corresponding space.

[0004] At present, three-axis drive platforms mostly use electric servo systems or hydraulic systems. Although electric servo systems can provide higher control accuracy, their safety and stability are challenged in high temperature and explosive environments. Although hydraulic systems have large power output, their response speed is relatively slow, and there is a risk of oil leakage and contamination, which is unacceptable in many occasions with high cleanliness requirements.

[0005] Some existing three-axis drive platforms use pneumatic systems, which are less affected by high temperatures and explosive environments, and have better installability and stability. They also have fast response speeds and do not pollute the environment or products. The three-axis drive platform using a pneumatic system mainly includes three pneumatic drives, which mostly use ordinary cylinders or rodless cylinders or pneumatic slides. The driving directions of the three pneumatic drives are set horizontally, longitudinally, and vertically, respectively, which can drive the gripper to move in the corresponding space.

[0006] During the use of the robot, the gripper needs to be positioned at different positions, and the positioning accuracy of the pneumatic drive is low, which makes it difficult to use the pneumatically driven robot in places where high positioning accuracy is required. Summary of the invention

[0007] The present application provides a gas-driven three-degree-of-freedom manipulator, the purpose of which is to improve the positioning accuracy of the gas-driven manipulator.

[0008] The gas-driven three-degree-of-freedom manipulator provided in this application adopts the following technical solution:

[0009] A gas-driven three-degree-of-freedom manipulator comprises a first-axis drive mechanism, a second-axis drive mechanism, a third-axis drive mechanism and a clamp, wherein the first-axis drive mechanism, the second-axis drive mechanism, the third-axis drive mechanism and the clamp are connected in sequence; the first-axis drive mechanism, the second-axis drive mechanism and the third-axis drive mechanism have the same structure; the first-axis drive mechanism comprises a connecting slide and a plurality of pneumatic drivers, wherein the connecting slide is connected to the second-axis drive mechanism, and a plurality of the pneumatic drivers are connected in sequence along their own length directions; a connecting mechanism is arranged on the connecting slide, and the pneumatic driver is connected to the connecting mechanism, and when the corresponding pneumatic driver moves through a full stroke, the connecting mechanism is automatically separated from the corresponding pneumatic driver and automatically connected to another adjacent pneumatic driver.

[0010] By adopting the above technical solution, through the cooperation of the first axis driving mechanism, the second axis driving mechanism and the third axis driving mechanism, the clamping claw can be driven to move in the horizontal, longitudinal and vertical directions, thereby satisfying the function of a three-degree-of-freedom manipulator.

[0011] The first axis driving mechanism includes a connecting slide, a connecting mechanism and a plurality of pneumatic drivers. Since the connecting mechanism can be automatically separated or automatically connected with the pneumatic driver, when the connecting mechanism is connected with the corresponding pneumatic driver, the corresponding pneumatic driver can drive the connecting slide to move. After the pneumatic driver moves through the full stroke, the connecting mechanism can be automatically separated from the pneumatic driver. At the same time, the connecting mechanism is automatically connected with another adjacent pneumatic driver, and the other adjacent pneumatic driver can continue to drive the connecting slide to move. Therefore, through the cooperation of the connecting mechanism and the plurality of pneumatic drivers, the plurality of pneumatic drivers can relay and drive the connecting slide to move, ensuring that the movement distance of the connecting slide can meet the requirements.

[0012] During the movement of the connecting slide, the connecting slide needs to stop at several positions in the middle to realize the positioning of the clamp. By setting the stroke of the pneumatic drive, the position where the connecting slide needs to stop is the actual position of the connecting slide after the corresponding pneumatic drive moves through the full stroke, that is, after the corresponding pneumatic drive moves through the full stroke, the connecting slide stops, which is exactly the positioning position required by the clamp. Repeat this step to ensure that all the positions where the connecting slide needs to stop correspond to the actual position of the connecting slide after a pneumatic drive moves through the full stroke. This means that during the driving process of the clamp, when the clamp stops for positioning, the position of the connecting slide is exactly the position of the connecting slide after the corresponding pneumatic drive moves through the full stroke; when the clamp continues to move, the adjacent pneumatic drives relay to realize the continued driving of the connecting slide.

[0013] Since the stroke of the pneumatic drive is fixed, the position of the connecting slide must be fixed after the pneumatic drive drives the connecting slide to move at full stroke. At this time, the positioning of the connecting slide is accurate, and the positioning of the corresponding clamp is accurate. Therefore, this can improve the positioning accuracy of the connecting slide every time it stops, and then improve the positioning accuracy of the clamp. Therefore, such a structural setting can improve the positioning accuracy of the gas-driven three-degree-of-freedom manipulator.

[0014] Optionally, the connecting mechanism includes two connecting parts, which are arranged on the connecting slide, and the two connecting parts are spaced apart along the width direction of the pneumatic driver, and two adjacent pneumatic drivers are spaced apart along their own width direction, and two adjacent pneumatic drivers are arranged in a one-to-one correspondence with the two connecting parts, and when the connecting part is separated from the corresponding pneumatic driver, the other connecting part is connected to the corresponding pneumatic driver.

[0015] By adopting the above technical solution, since the connecting member and the corresponding pneumatic driver can be automatically separated and automatically connected, and the two connecting members are set one by one with the two pneumatic drivers, during the sliding process of the connecting slide, one connecting member is connected to the corresponding pneumatic driver, and the other connecting member is idle. At this time, the corresponding pneumatic driver can realize the driving of the connecting slide; and when the pneumatic driver realizes full stroke movement, the idle connecting member is connected to another adjacent pneumatic driver, and the other connecting member is idle again. At this time, the other adjacent pneumatic driver continues to drive the connecting slide to move. Therefore, by repeating the above steps and using different connecting members alternately, it is possible to realize that the connecting slide is connected to the two adjacent pneumatic drivers in turn, which enables the two pneumatic drivers to alternately drive the connecting slide, which satisfies the function of the connecting mechanism.

[0016] Optionally, the connecting mechanism also includes a plurality of connecting plates, which are arranged in a one-to-one correspondence with the pneumatic drivers and are arranged on the corresponding pneumatic drivers, and card slots are provided on opposite sides of the connecting plates; the connecting member includes two card plates, the two card plates are arranged at intervals along the width direction of the pneumatic driver, and the connecting plate is located between the two card plates, and a bidirectional driving member for driving the two card plates to move toward or away from each other is provided on the connecting slide; the card plates are arranged in a one-to-one correspondence with the card slots, and a card block is provided on the side of the card plate facing the connecting plate, and the card block is plugged into the corresponding card slot.

[0017] By adopting the above technical solution, through the matching arrangement of the bidirectional driving member, the card plate and the connecting plate, when the bidirectional driving member drives the two card plates to move closer to each other, the two card blocks are plugged and matched with the corresponding card slots, which can establish the connection between the connecting member and the corresponding connecting plate; when the bidirectional driving member drives the two card plates to move away from each other, the two card blocks are pulled out of the corresponding card slots, which can achieve the separation of the connecting member and the corresponding connecting plate, thereby making the connecting member vacant again. This can achieve the automatic connection or separation of the connecting member and the corresponding pneumatic driver, thereby satisfying the function of the connecting mechanism.

[0018] Optionally, the connecting member also includes a base block, which is arranged on the connecting slide, and the connecting slide is located between two clamping plates; a base hole is opened on the base block, and the axial direction of the base hole is arranged along the spacing direction of the two clamping plates, and the bidirectional driving member is arranged in the base hole, and a connecting column is arranged on the side of the clamping plate facing the base block, the connecting column is plug-fitted with the base hole, and the connecting column is slidably connected with the inner side wall of the base hole along its own axial direction, and the bidirectional driving member is connected to the two connecting columns.

[0019] By adopting the above technical solution, the connecting member realizes the installation of the bidirectional driving member through the setting of the base block. The opening of the base hole on the base block cooperates with the connecting column on the card plate. Under the drive of the bidirectional driving member, the connecting column moves in the base hole, thereby realizing the driving of the card plate. Through the coordinated setting of the base hole and the connecting column, the movement of the card plate can be guided, thereby improving the stability of the movement of the card plate.

[0020] Optionally, a return spring is sleeved on the outer side of the connecting column, one end of the return spring is connected to the connecting column, and the other end is connected to the inner wall of the base hole.

[0021] By adopting the above technical solution and setting the return spring, when the bidirectional driving member drives the two clamping plates to move away from each other, the return spring is compressed, and at this time the return spring can improve the stability of the movement of the connecting column; when the bidirectional driving member drives the two clamping plates to move towards each other, the return spring is reset, which facilitates the reset of the corresponding connecting column.

[0022] Optionally, the pneumatic driver is located on the same side of two adjacent pneumatic drivers along its width direction.

[0023] By adopting the above technical solution, since the pneumatic drive is located on the same side of two adjacent pneumatic drives along its own length direction, when one connecting part is connected to the corresponding pneumatic drive, the other connecting part can be automatically connected to and separated from any one of the two pneumatic drives adjacent to the pneumatic drive. This makes it possible for all pneumatic drives to relay and realize the drive of the connecting slide when the number of pneumatic drives exceeds three.

[0024] Optionally, the first shaft driving mechanism further comprises a mounting base, the length direction of the mounting base is arranged along the length direction of the pneumatic driver, and a plurality of the pneumatic drivers are arranged on the mounting base.

[0025] By adopting the above technical solution, the setting of the mounting base can realize the installation of the pneumatic driver, and then realize the splicing of several pneumatic drivers.

[0026] Optionally, the pneumatic driver is slidably connected to the mounting base along its length direction.

[0027] By adopting the above technical solution, since the pneumatic driver can be slidably connected to the mounting base along its own length direction, the position of the pneumatic driver can be fine-tuned after the pneumatic driver is installed, thereby improving the relative position accuracy between two adjacent pneumatic drivers.

[0028] Optionally, a long mounting groove is provided on the mounting base, and several of the pneumatic drivers are arranged in the long mounting groove; a guide slide is provided on the mounting base, and the guide slide is located on a side of the mounting base where the long mounting groove is provided, and the length direction of the guide slide is arranged along the length direction of the mounting base, and both ends of the guide slide in the length direction are connected to the mounting base; a guide slide hole is provided on the connecting slide, and the guide slide is plugged into the guide slide hole, and the guide slide is slidably connected to the inner wall of the guide slide hole along its own length direction.

[0029] By adopting the above technical solution, the pneumatic driver is arranged in the installation slot, which can realize the protection of the pneumatic driver. The guide slide cooperates with the guide slide hole, and the guide slide provides auxiliary support for the connecting slide, thereby improving the stability of the connection between the connecting slide and the installation base, and improving the stability of the connecting slide sliding on the installation base.

[0030] Optionally, the connecting slide includes a first plate and a second plate, the guide slide plate is located between the first plate and the second plate, and the first plate and the second plate are detachably connected; a first groove is opened on the first plate, and a second groove is opened on the second plate, and the first groove and the second groove form the guide slide hole.

[0031] By adopting the above technical solution, the connecting slide is arranged through the cooperation of the first plate and the second plate, which facilitates the disassembly and installation of the connecting slide and the guide slide.

[0032] In summary, the present application includes at least one of the following beneficial technical effects:

[0033] 1. The present application realizes the relay transmission of the connecting slide by the full-stroke movement of several pneumatic actuators, and when the gripper is positioned, the connecting slide stops at the corresponding position, and the stop position of the connecting slide is exactly the position where the corresponding pneumatic actuator drives the connecting slide to stop after the full-stroke movement. Since the stroke of the pneumatic actuator is fixed, the position where the pneumatic actuator drives the connecting slide to stop after the full-stroke movement must be fixed. At this time, the positioning of the connecting slide is accurate, and the positioning of the corresponding gripper is accurate, which can improve the positioning accuracy of the connecting slide each time it stops, thereby improving the positioning accuracy of the gripper, and thereby improving the positioning accuracy of the gas-driven three-degree-of-freedom manipulator.

[0034] 2. The present application realizes that a plurality of pneumatic actuators sequentially drive the connecting slide to move by cooperating with the two connecting parts.

[0035] 3. The present application can improve the sliding stability of the connecting slide and thus improve the stability of the clamp during operation by setting up the mounting base. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the overall structure of the robot arm of this application.

[0037] Figure 2 It is a schematic diagram of the overall structure of the first axis driving mechanism of the present application.

[0038] Figure 3 It is a schematic cross-sectional structural diagram of the first shaft driving mechanism of the present application.

[0039] Figure 4 yes Figure 3 Schematic diagram of the local enlarged structure of part A.

[0040] Figure 5 It is a schematic diagram of the overall structure of the pneumatic drive group of the present application.

[0041] Figure 6 It is a schematic diagram of the overall structure of the connection between the sliding table and two adjacent pneumatic drives in this application.

[0042] Figure 7 It is a cross-sectional structural schematic diagram of the connection between the connecting slide and two adjacent pneumatic drives of the present application.

[0043] Figure 8 yes Figure 7 Schematic diagram of the local enlarged structure of part B.

[0044] Fig. 9 It is a schematic diagram of the cross-sectional structure of the connector of the present application.

[0045] Fig.10 It is a schematic diagram of the internal structure of the installation base of this application.

[0046] In the figure, 1, first axis driving mechanism; 2, second axis driving mechanism; 3, third axis driving mechanism; 4, clamping claw; 5, mounting base; 51, mounting long groove; 52, guide slide plate; 6, connecting slide; 61, guide slide hole; 62, first plate; 621, first groove; 63, second plate; 631, second groove; 7, pneumatic drive group; 71, pneumatic drive; 8, connecting mechanism; 81, connecting piece; 811, base block; 8111, base hole; 8112, ring groove; 812, clamping plate; 8121, clamping block; 81 22. Connecting column; 8123. Limiting ring; 8124. Reset spring; 813. Two-way driving member; 82. Connecting plate; 821. Slot; 9. Auxiliary slide rail; 91. Auxiliary slide groove; 10. Adjustable driving mechanism; 101. Installing adjustment member; 1011. Adjustable plate; 1012. Fixing bolt; 1013. Adjustable long hole; 1014. Fixing hole; 102. Compensating adjustment member; 1021. Guide rail; 1022. Guide groove; 1023. Positioning bolt; 1024. Positioning screw hole; 1025. Positioning hole. DETAILED DESCRIPTION

[0047] The following is combined with Figure 1 -Attached Fig.10 , further details of this application are given.

[0048] A gas driven three-degree-of-freedom manipulator, referring to Figure 1 , including a first-axis driving mechanism 1, a second-axis driving mechanism 2, a third-axis driving mechanism 3 and a clamp 4. The first-axis driving mechanism 1, the second-axis driving mechanism 2, and the third-axis driving mechanism 3 have the same structure. The driving direction of the first-axis driving mechanism 1 is arranged horizontally, the driving direction of the second-axis driving mechanism 2 is arranged longitudinally, and the driving direction of the third-axis driving mechanism 3 is arranged vertically. The first-axis driving mechanism 1, the second-axis driving mechanism 2, and the third-axis driving mechanism 3 are connected in sequence, and the clamp 4 is arranged on the third-axis driving mechanism 3.

[0049] With the cooperation of the first axis driving mechanism 1, the second axis driving mechanism 2 and the third axis driving mechanism 3, the gripper 4 can be driven to move in the horizontal, longitudinal and vertical directions, thereby satisfying the function of a three-degree-of-freedom manipulator. In this embodiment, a plurality of the first axis driving mechanism 1, the second axis driving mechanism 2 and the third axis driving mechanism 3 can be provided according to actual needs, which can ensure the stability of the entire three-degree-of-freedom manipulator and the stability of the movement of the gripper 4.

[0050] Reference Figure 2 and Figure 3The first axis driving mechanism 1 includes a mounting base 5, a connecting slide 6 and a pneumatic driving group 7. The connecting slide 6 is slidably arranged on the mounting base 5. The connecting slide 6 is slidably connected with the mounting base 5 along the length direction of the mounting base 5. The pneumatic driving group 7 is arranged on the mounting base 5. The pneumatic driving group 7 is connected to the connecting slide 6. The driving direction of the pneumatic driving group 7 is arranged along the length direction of the mounting base 5. When the pneumatic driving group 7 drives the connecting slide 6, the connecting slide 6 can move along the length direction of the mounting base 5, which can meet the function of the first axis driving mechanism 1.

[0051] In this embodiment, refer to Figure 1 and Figure 2 , the connecting slide 6 of the first axis driving mechanism 1 is connected to the mounting base 5 of the second axis driving mechanism 2, so that the first axis driving mechanism 1 can drive the second axis driving mechanism 2 to move in the lateral direction. Similarly, the second axis driving mechanism 2 can drive the third axis driving mechanism 3 to move in the longitudinal direction, and the third axis driving mechanism 3 can drive the clamping jaw 4 to move in the vertical direction.

[0052] Reference Figure 2 and Figure 3 A mounting long groove 51 is opened on one side of the mounting base 5 facing the connecting slide 6 , the length direction of the mounting long groove 51 is arranged along the length direction of the mounting base 5 , and the pneumatic drive group 7 is arranged in the mounting long groove 51 .

[0053] Reference Figure 2 and Figure 3 A guide slide 52 is provided on the mounting base 5. The guide slide 52 is located on a side of the mounting base 5 where the mounting long groove 51 is opened. The length direction of the guide slide 52 is arranged along the length direction of the mounting base 5. Both ends of the guide slide 52 in the length direction are connected to the mounting base 5. The width of the guide slide 52 is smaller than the width of the mounting long groove 51.

[0054] Reference Figure 2 and Figure 4 The connecting slide 6 is provided with a guide slide hole 61, which penetrates the connecting slide 6 along the length direction of the guide slide plate 52, and the guide slide hole 61 is plugged and matched with the guide slide plate 52, and the guide slide plate 52 is slidably connected with the inner side wall of the guide slide hole 61 along its own length direction. The guide slide plate 52 provides auxiliary support for the connecting slide 6, improves the stability of the connection between the connecting slide 6 and the mounting base 5, and improves the stability of the connecting slide 6 sliding on the mounting base 5.

[0055] In this embodiment, refer to Figure 2 and Figure 4The connecting slide 6 includes a first plate 62 and a second plate 63. Both the first plate 62 and the second plate 63 are parallel to the guide slide 52. The second plate 63 is located on the side of the first plate 62 facing the bottom of the installation slot 51, and the first plate 62 and the second plate 63 are connected by bolts. A first groove 621 is provided on the first plate 62, and the first groove 621 penetrates the first plate 62 along the length direction of the guide slide 52. A second groove 631 is provided on the second plate 63, and the second groove 631 penetrates the second plate 63 along the length direction of the guide slide 52, and the first groove 621 and the second groove 631 form a guide slide hole 61. Such a structural setting facilitates the disassembly and installation of the connecting slide 6 and the guide slide 52.

[0056] Reference Figure 5 and Figure 6 A connecting mechanism 8 is provided between the connecting slide 6 and the pneumatic drive group 7, and the connecting mechanism 8 includes a plurality of connecting plates 82. The pneumatic drive group 7 includes a plurality of pneumatic drivers 71, and the connecting plates 82 are arranged one by one with the pneumatic drivers 71, and the connecting plates 82 are arranged on the driving ends of the pneumatic drivers 71. The plurality of pneumatic drivers 71 are arranged in sequence along the length direction of the mounting base 5, and the driving direction of the pneumatic drivers 71 is arranged along the length direction of the mounting base 5, and two adjacent pneumatic drivers 71 are arranged at intervals along the width direction of the mounting base 5. In this embodiment, the pneumatic drivers 71 all adopt pneumatic slides or rodless cylinders or ordinary cylinders.

[0057] Reference Figure 6 During the process of the pneumatic driver 71 driving the connecting plate 82 to move, two adjacent pneumatic drivers 71 cooperate so that the corresponding two connecting plates 82 can move to be spaced apart along the width direction of the mounting base 5 .

[0058] Reference Figure 5 and Figure 6 The connecting mechanism 8 includes two connecting members 81, both of which are arranged on the connecting slide 6, and the two connecting members 81 are arranged at intervals along the width direction of the mounting base 5, and two adjacent pneumatic drivers 71 are arranged one by one with the two connecting members 81, and the connecting members 81 are detachably connected to the connecting plates 82 on the corresponding pneumatic drivers 71.

[0059] During the sliding process of the connecting slide 6, one connecting member 81 is connected to the corresponding connecting plate 82, and the other connecting member 81 is idle. At this time, the corresponding pneumatic driver 71 can realize the driving of the connecting slide 6. When the pneumatic driver 71 realizes the full stroke movement, the idle connecting member 81 is connected to the connecting plate 82 on another adjacent pneumatic driver 71, and the other connecting member 81 is idle. At this time, the adjacent pneumatic driver 71 continues to drive the connecting slide 6 to move. Therefore, by repeating the above steps and using different connecting members 81 alternately, the connecting slide 6 can be driven continuously.

[0060] Reference Figure 7 The connecting member 81 includes a base block 811, a card plate 812 and a bidirectional driving member 813. The base block 811 is connected to the connecting slide 6. Two card plates 812 are provided, and the two card plates 812 are arranged at intervals along the width direction of the pneumatic driver 71. The base block 811 is located between the two card plates 812, and the two card plates 812 are slidably connected to the base block 811 along the width direction of the mounting base 5. The bidirectional driving member 813 is arranged on the base block 811, and the two driving ends of the bidirectional driving member 813 are respectively connected to the corresponding card plates 812. In this embodiment, the bidirectional driving member 813 is composed of a bidirectional cylinder or two unidirectional cylinders with opposite driving directions.

[0061] Reference Figure 7 and Figure 8 The connecting plate 82 is located between the two clamping plates 812 along the width direction of the pneumatic driver 71. Clamping grooves 821 are provided on opposite sides of the connecting plate 82. The clamping grooves 821 are arranged one-to-one with the clamping plates 812. A clamping block 8121 is provided on one side of the clamping plate 812 facing the connecting plate 82, and the clamping block 8121 is plugged into the corresponding clamping groove 821.

[0062] Reference Figure 7 and Figure 8 When the two-way driving member 813 drives the two card plates 812 to move toward each other, the two card blocks 8121 are plugged into the corresponding card slots 821, so that the connection between the connector 81 and the corresponding connecting plate 82 can be established; when the two-way driving member 813 drives the two card plates 812 to move away from each other, the two card blocks 8121 are pulled out of the corresponding card slots 821, so that the connector 81 and the corresponding connecting plate 82 can be separated, so that the connector 81 can be restored to an empty position. This can realize the automatic connection or separation of the connector 81 with the corresponding card plate 812, thereby satisfying the function of the connecting mechanism 8.

[0063] Reference Figure 7 and Figure 8 A base hole 8111 is penetrated through the base block 811, and a connecting column 8122 is arranged on the clamping plate 812 along the axial direction of the base hole 8111 along the width direction of the pneumatic driver 71. The connecting column 8122 is plugged into the corresponding base hole 8111, and the connecting column 8122 is slidably connected with the inner wall of the corresponding base hole 8111 along its own axial direction.

[0064] In this embodiment, refer to Figure 8 and Fig. 9, a plurality of base holes 8111 are provided, a plurality of connecting columns 8122 are also provided, and the connecting columns 8122 are provided in a one-to-one correspondence with the base holes 8111, and the connecting columns 8122 are plugged and matched with the corresponding base holes 8111. A plurality of bidirectional driving members 813 are provided, and the bidirectional driving members 813 are provided in a one-to-one correspondence with the base holes 8111, and the bidirectional driving members 813 are located in the corresponding base holes 8111, and both driving ends of the bidirectional driving members 813 are coaxially connected with the corresponding connecting columns 8122. Through the matching arrangement of the base holes 8111 and the connecting columns 8122, the movement of the card plate 812 can be guided, and the stability of the movement of the card plate 812 is improved.

[0065] Reference Figure 7 and Figure 8 , an annular groove 8112 is provided on the inner side wall of the base hole 8111, and the annular groove 8112 is coaxially arranged with the base hole 8111. A limiting ring 8123 is sleeved on the outer side wall of the connecting column 8122, and the limiting ring 8123 is plugged and matched with the connecting annular groove 8112, and the limiting ring 8123 is slidably connected with the inner side wall of the connecting annular groove 8112 along its own axial direction. A reset spring 8124 is sleeved on the outer side of the connecting column 8122, and the reset spring 8124 is located on the side of the limiting ring 8123 facing the clamping plate 812, and one end of the reset spring 8124 is connected to the limiting ring 8123, and the other end is connected to the inner side wall of the annular groove 8112. The reset spring 8124 can improve the stability of the movement of the connecting column 8122, and also facilitate the reset of the corresponding connecting column 8122.

[0066] Reference Figure 4 and Figure 5 A plurality of auxiliary rails 9 are also provided in the mounting base 5. The auxiliary rails 9 are located in the mounting long groove 51. The length direction of the auxiliary rails 9 is arranged along the length direction of the mounting base 5. The auxiliary rails 9 are arranged in sequence along the length direction of the mounting base 5, and two adjacent auxiliary rails 9 are arranged along the width direction of the mounting base 5. The auxiliary rails 9 are arranged one by one with the pneumatic actuators 71, and the auxiliary rails 9 are located on one side of the width direction of the corresponding pneumatic actuator 71.

[0067] Reference Figure 5 and Figure 6 The two connecting members 81 are arranged one by one corresponding to the two adjacent auxiliary slide rails 9, and the connecting members 81 are slidably connected to the auxiliary slide rails 9 along the length direction of the auxiliary slide rails 9, and the connecting members 81 are detachably connected to the corresponding auxiliary slide rails 9.

[0068] When one connector 81 is connected to the connecting plate 82, the other connector 81 is connected to the corresponding auxiliary slide rail 9. At this time, the pneumatic driver 71 corresponding to the connecting plate 82 is used to drive the connecting slide 6 to slide, and the auxiliary slide rail 9 provides auxiliary support for the connecting slide 6 to improve the sliding stability of the connecting slide 6. Similarly, when the connector 81 is separated from the connecting plate 82, the separated connector 81 will establish a connection with the corresponding auxiliary slide rail 9, which can improve the stability of the connecting slide 6 during the entire sliding process.

[0069] Specifically, refer to Figure 4 and Figure 8 , auxiliary slide grooves 91 are provided on both sides of the auxiliary slide rail 9 in the width direction, and the auxiliary slide grooves 91 penetrate the auxiliary slide rail 9 along the length direction of the auxiliary slide rail 9. When the connecting member 81 is connected to the corresponding auxiliary slide rail 9, the clamping block 8121 is arranged in a one-to-one correspondence with the auxiliary slide groove 91, and the clamping block 8121 is plugged and matched with the corresponding auxiliary slide groove 91, and the clamping block 8121 is slidably connected with the auxiliary slide groove 91 along the length direction of the mounting base 5. Through the cooperation between the clamping block 8121 on the connecting member 81 and the auxiliary slide groove 91 on the auxiliary slide rail 9, the connection between the auxiliary slide rail 9 and the connecting member 81 can be established, which also facilitates the separation of the connecting member 81 from the corresponding auxiliary slide rail 9.

[0070] Reference Figure 5 and Figure 6 The manipulator also includes an adjustable driving mechanism 10, which includes an installation adjustment member 101 and a compensation adjustment member 102. The installation adjustment member 101 is arranged between the pneumatic driver 71 and the bottom of the installation long groove 51, and the compensation adjustment member 102 is arranged between the connecting slide 6 and the connecting member 81.

[0071] Reference Figure 7 and Fig.10 Each pneumatic driver 71 is provided with an installation adjustment member 101 on both sides in the width direction. The installation adjustment member 101 includes an adjustable plate 1011 and a plurality of fixing bolts 1012. The adjustable plate 1011 is connected to the pneumatic driver 71. The length direction of the adjustable plate 1011 is arranged along the length direction of the installation base 5. The adjustable plate 1011 is provided with an adjustable long hole 1013. The length direction of the adjustable long hole 1013 is arranged along the length direction of the installation base 5. The bottom of the installation long slot 51 is provided with a plurality of fixing holes 1014. The plurality of fixing holes 1014 are arranged in sequence and spaced along the length direction of the installation base 5. The plurality of fixing holes 1014 are connected with the adjustable long holes 1013. The fixing holes 1014 are arranged one by one with the fixing bolts 1012. The fixing bolts 1012 are plug-fitted with the corresponding fixing holes 1014. The fixing bolts 1012 are connected with the inner side walls of the corresponding fixing holes 1014 by threads. The fixing bolt 1012 is plugged into and matched with the adjustable long hole 1013 , and the lower side of the nut of the fixing bolt 1012 abuts against the adjustable plate 1011 .

[0072] By loosening a plurality of fixing bolts 1012, the adjustable plate 1011 can be loosened, and the installation position of the pneumatic driver 71 can be adjusted along the length direction of the installation base 5, so that the stroke overlap range of two adjacent pneumatic drivers 71 can be adjusted. On the one hand, the installation accuracy requirement of the pneumatic driver 71 can be reduced; on the other hand, after the pneumatic driver 71 is installed, it is easy to adjust the position of the pneumatic driver 71, ensure the position accuracy of the pneumatic driver 71, and then ensure the driving accuracy of the connecting slide 6.

[0073] Reference Figure 6 The connecting member 81 is slidably connected to the connecting slide 6 along the length direction of the pneumatic driver 71.

[0074] Reference Figure 6 The compensation adjustment member 102 includes a guide rail 1021, which is arranged on the side of the connecting slide 6 facing the base block 811, and the length direction of the guide rail 1021 is arranged along the length direction of the pneumatic driver 71. A guide groove 1022 is provided on the side of the base block 811 facing the connecting slide 6, and the guide groove 1022 penetrates the base block 811 along the length direction of the guide rail 1021, and the guide groove 1022 is plugged and matched with the guide rail 1021, and the guide rail 1021 is slidably connected with the inner side wall of the guide groove 1022 along its own length direction. Through the cooperation between the guide rail 1021 and the guide groove 1022, the sliding connection between the connecting member 81 and the connecting slide 6 can be achieved.

[0075] Reference Figure 7 and Fig. 9 The compensation adjustment member 102 further includes a plurality of positioning bolts 1023. A plurality of positioning screw holes 1024 are provided on the side of the base block 811 facing the connecting slide 6. The plurality of positioning screw holes 1024 are sequentially spaced along the length direction of the guide rail 1021. A plurality of positioning holes 1025 are provided on the second plate 63. The plurality of positioning holes 1025 are sequentially spaced along the length direction of the guide rail 1021. The number of positioning holes 1025 exceeds the number of positioning screw holes 1024. There are a plurality of positioning holes 1025 corresponding to the positioning screw holes 1024. The positioning screw holes 1024 are connected to the corresponding positioning holes 1025. The positioning bolts 1023 are corresponding to the positioning screw holes 1024. The positioning bolts 1023 are plug-fitted with the corresponding positioning screw holes 1024 and the corresponding positioning holes 1025. The positioning bolts 1023 are connected to the inner side walls of the corresponding positioning screw holes 1024 through threads.

[0076] Reference Figure 6 and Figure 7The connection between the connector 81 and the connecting slide 6 is realized by the cooperation of the positioning bolt 1023, the positioning hole 1025 and the positioning screw hole 1024. The cooperation of the guide rail 1021 and the guide groove 1022 facilitates the adjustment of the position of the connector 81 along the guide rail 1021 on the connecting slide 6. Thus, the position of the connector 81 is adjusted according to the position of the connecting plate 82 on the corresponding pneumatic driver 71, ensuring that the connector 81 can be connected to the corresponding connecting plate 82.

[0077] The implementation principle of the embodiment of the present application is: pre-simulate the moving trajectory of the clamping jaw 4 in the corresponding space, determine the coordinates of several positioning points of the clamping jaw 4 in the corresponding space. According to the coordinates of the several positioning points, determine the number of pneumatic drivers 71 in the first axis driving mechanism 1, the second axis driving mechanism 2 and the third axis driving mechanism 3 and the stroke of each pneumatic driver 71.

[0078] When the three-degree-of-freedom manipulator is working, a plurality of pneumatic drivers 71 in the first-axis driving mechanism 1 sequentially drive the corresponding connecting slide 6 to move, and through the cooperation of the second-axis driving mechanism 2 and the third-axis driving mechanism 3, the clamping jaw 4 moves in the corresponding space.

[0079] During the process of the first axis driving mechanism 1 driving the corresponding connecting slide 6, when a pneumatic driver 71 in the first axis driving mechanism 1 moves through a full stroke, the coordinates of the connecting slide 6 in the first axis driving mechanism 1 are the horizontal coordinates of a certain positioning point of the clamping jaw 4. Therefore, the horizontal coordinates of each positioning point of the clamping jaw 4 correspond to the coordinates of the connecting slide 6 after a pneumatic driver 71 in the first axis driving mechanism 1 moves through a full stroke. The second axis driving mechanism 2 and the third axis driving mechanism 3 are arranged in the same manner.

[0080] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A gas-driven three-degree-of-freedom manipulator, characterized in that: include: A first shaft drive mechanism (1), a second shaft drive mechanism (2), a third shaft drive mechanism (3) and a clamping jaw (4), wherein the first shaft drive mechanism (1), the second shaft drive mechanism (2), the third shaft drive mechanism (3) and the clamping jaw (4) are connected in sequence; the first shaft drive mechanism (1), the second shaft drive mechanism (2) and the third shaft drive mechanism (3) have the same structure; The first axis driving mechanism (1) comprises a connecting slide (6) and a plurality of pneumatic drivers (71), the connecting slide (6) being connected to the second axis driving mechanism (2), the plurality of pneumatic drivers (71) being connected in sequence along their length direction, the connecting slide (6) being provided with a connecting mechanism (8), the pneumatic drivers (71) being connected to the connecting mechanism (8), and when the corresponding pneumatic driver (71) moves through a full stroke, the connecting mechanism (8) is automatically separated from the corresponding pneumatic driver (71) and is automatically connected to another adjacent pneumatic driver (71); The connecting mechanism (8) comprises two connecting members (81), the connecting members (81) are arranged on the connecting slide (6), the two connecting members (81) are arranged at intervals along the width direction of the pneumatic driver (71), two adjacent pneumatic drivers (71) are arranged at intervals along their own width direction, and two adjacent pneumatic drivers (71) are arranged in a one-to-one correspondence with the two connecting members (81), and when the connecting member (81) is separated from the corresponding pneumatic driver (71), the other connecting member (81) is connected to the corresponding pneumatic driver (71); The connecting mechanism (8) further comprises a plurality of connecting plates (82), wherein the connecting plates (82) are arranged in a one-to-one correspondence with the pneumatic drivers (71), and the connecting plates (82) are arranged on the corresponding pneumatic drivers (71), and the connecting plates (82) are provided with card slots (821) on opposite sides thereof; The connecting member (81) comprises two card plates (812), the two card plates (812) are arranged at intervals along the width direction of the pneumatic driver (71), and the connecting plate (82) is located between the two card plates (812), and the connecting slide (6) is provided with a bidirectional driving member (813) for driving the two card plates (812) to move towards each other or away from each other; The card plate (812) and the card slot (821) are arranged in a one-to-one correspondence; a card block (8121) is arranged on one side of the card plate (812) facing the connecting plate (82); the card block (8121) is plugged into and matched with the corresponding card slot (821); The connecting member (81) further comprises a base block (811), wherein the base block (811) is arranged on the connecting slide (6), and the connecting slide (6) is located between two clamping plates (812); The base block (811) is provided with a base hole (8111), the axial direction of the base hole (8111) is arranged along the spacing direction of the two clamping plates (812), the bidirectional driving member (813) is arranged in the base hole (8111), and a connecting column (8122) is arranged on the side of the clamping plate (812) facing the base block (811), the connecting column (8122) is plug-fitted with the base hole (8111), and the connecting column (8122) is slidably connected to the inner side wall of the base hole (8111) along its own axial direction, and the bidirectional driving member (813) is connected to the two connecting columns (8122).

2. A gas-driven three-degree-of-freedom manipulator according to claim 1, characterized in that: A return spring (8124) is sleeved on the outside of the connecting column (8122); one end of the return spring (8124) is connected to the connecting column (8122), and the other end is connected to the inner wall of the base hole (8111).

3. A gas driven three-degree-of-freedom manipulator according to claim 1, characterized in that: The first shaft driving mechanism (1) further comprises a mounting base (5), the length direction of the mounting base (5) being arranged along the length direction of the pneumatic driver (71), and a plurality of the pneumatic drivers (71) are arranged on the mounting base (5).

4. A gas driven three-degree-of-freedom manipulator according to claim 3, characterized in that: The pneumatic driver (71) is slidably connected to the mounting base (5) along its length direction.

5. A gas driven three-degree-of-freedom manipulator according to claim 3, characterized in that: The mounting base (5) is provided with a mounting long slot (51), and the plurality of pneumatic drivers (71) are all arranged in the mounting long slot (51); A guide slide (52) is provided on the mounting base (5), the guide slide (52) is located on a side of the mounting base (5) on which the mounting long groove (51) is provided, the length direction of the guide slide (52) is arranged along the length direction of the mounting base (5), and both ends of the guide slide (52) in the length direction are connected to the mounting base (5); The connecting slide table (6) is provided with a guide sliding hole (61), the guide sliding plate (52) is plugged into and matched with the guide sliding hole (61), and the guide sliding plate (52) is slidably connected to the inner side wall of the guide sliding hole (61) along its own length direction.

6. A gas driven three-degree-of-freedom manipulator according to claim 5, characterized in that: The connecting slide (6) comprises a first plate (62) and a second plate (63); the guide slide plate (52) is located between the first plate (62) and the second plate (63); the first plate (62) and the second plate (63) are detachably connected; a first groove (621) is formed on the first plate (62); a second groove (631) is formed on the second plate (63); the first groove (621) and the second groove (631) form the guide slide hole (61).

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