Manipulator cylinder device

Abstract

According to the technical scheme, the mechanical arm air cylinder device is characterized by comprising a machine base, a rotating air cylinder is arranged on the machine base, a rotating disc is arranged on the rotating air cylinder, a first air claw and a second air claw are arranged on the rotating disc, a limiting frame is arranged on the rotating air cylinder, and a limiting assembly is arranged on the limiting frame. The limiting assembly comprises a buffer and a limiting rod, a positioning rod is arranged on the rotating disc, the positioning rod comprises a large end arranged on the outer side and a small end arranged on the inner side, the large end is matched with the buffer, the small end is matched with the limiting rod, and a soft magnet is arranged on the limiting rod. And an iron sheet attracted with the soft magnet is arranged at the corresponding position of the limiting rod. The device has the advantages of being stable in operation, accurate in positioning and low in working noise.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and more specifically to a manipulator cylinder device. Background Art

[0002] At present, most production and processing lines use robots to complete repetitive mechanical actions, such as grasping. Existing robots generally include servo robots, hydraulic robots and pneumatic robots. Among them, servo robots have high precision but are relatively expensive. Hydraulic robots require frequent maintenance due to oil leakage problems, which is troublesome. Therefore, pneumatic robots with low cost and less frequent maintenance are widely used. Pneumatic robots are driven by cylinders. The advantages of cylinders are low cost and fast action execution speed.

[0003] However, the disadvantage of the cylinder is that its operation accuracy is poor. Therefore, after the cylinder drives the robot to reach the designated workstation, it needs to be positioned. The current existing positioning methods generally use structures such as baffles, which limit the robot after it runs to the designated position to ensure accurate positioning. However, the above-mentioned existing technology still has some problems. When the baffle is used to limit the position, there will be a recoil force after the robot hits the baffle, which will cause a brief shaking when limiting the position. The robot may have a brief offset after it is in place, and the workpiece cannot be clamped or released quickly, which affects the work efficiency. The working noise during the collision is also relatively large, which needs to be improved. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a manipulator cylinder device, which has the advantages of stable operation, accurate positioning and low working noise.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a manipulator cylinder device, including a machine base, characterized in that: a rotating cylinder is arranged on the machine base, a rotating disk is arranged on the rotating cylinder, a first air claw and a second air claw are arranged on the rotating disk, a limiting frame is arranged on the rotating cylinder, a limiting assembly is arranged on the limiting frame, the limiting assembly includes a buffer and a limiting rod, a positioning rod is arranged on the rotating disk, the positioning rod includes a large end and a small end, the large end cooperates with the buffer, and the small end cooperates with the limiting rod, a soft magnet is arranged on the limiting rod, and an iron sheet attracted to the soft magnet is arranged at the corresponding position of the limiting rod.

[0006] The utility model is further configured as follows: the limiting components are provided with two groups, and the two groups of limiting components are respectively arranged at two ends of the limiting frame.

[0007] The utility model is further configured as follows: the buffer and the limiting rod are both threadedly connected to the limiting frame.

[0008] The utility model is further configured as follows: a fine-tuning rod is arranged on the limit rod, a threaded hole is arranged in the limit rod, the fine-tuning rod is threadedly matched with the threaded hole, and the soft magnet is arranged on the outer end surface of the fine-tuning rod.

[0009] The utility model is further configured as follows: the first air gripper and the second air gripper are symmetrically arranged, and when the rotating disk rotates 180 degrees, the first air gripper and the second air gripper exchange positions.

[0010] The utility model is further configured as follows: the rotary cylinder, the first air claw and the second air claw are all connected to an external air source through a solenoid valve.

[0011] In summary, the utility model has the following beneficial effects:

[0012] Compared with the prior art, the utility model is provided with a limit assembly and a positioning rod. The limit assembly includes a buffer for reducing the collision speed and a limit rod for adjusting the limit position. At the same time, a large end and a small end are provided on the positioning rod. When a collision occurs, the large end with a larger size first contacts the buffer to reduce the collision speed, and then the small end collides with the fine-tuning rod of the limit rod to stop, thereby achieving positioning. Through the above structure, the collision speed is effectively reduced, recoil is avoided during collision, and the noise during collision is also effectively reduced. At the same time, the utility model also provides a soft magnet on the fine-tuning rod, which can be adsorbed in conjunction with the iron sheet on the positioning rod, further ensuring that after reaching the position, even if the air supply is unstable, the position of the rotating disk can still remain stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional schematic diagram of the overall structure of this embodiment;

[0014] Figure 2 It is a schematic diagram of the structure of both sides of the limit frame of this embodiment;

[0015] Figure 3 It is a schematic diagram of the coordination structure between the limit assembly and the positioning rod in this embodiment.

[0016] Figure numerals: 1, machine base; 2, rotating cylinder; 201, rotating disk; 202, limit frame; 3, first air claw; 4, second air claw; 5, limit assembly; 501, buffer; 502, limit rod; 5021, fine-tuning rod; 6, positioning rod; 601, large end; 602, small end; 7, soft magnet; 8, iron sheet. DETAILED DESCRIPTION

[0017] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0018] This embodiment discloses a manipulator cylinder device, such as Figure 1-3As shown, it includes a machine base 1, a rotating cylinder 2 is arranged on the machine base 1, a rotating disk 201 is arranged on the rotating cylinder 2, and a first air gripper 3 and a second air gripper 4 are arranged on the rotating disk 201, wherein the first air gripper 3 and the second air gripper 4 are symmetrically arranged, and when the rotating disk 201 rotates 180 degrees, the first air gripper 3 and the second air gripper 4 exchange positions, refer to Figure 1 The positions of the first air gripper 3 and the second air gripper 4 correspond to the clamping station and the releasing station respectively. When in use, the first air gripper 3 clamps the workpiece at the clamping station, and then the rotating disk 201 rotates, so that the first air gripper 3 moves to the releasing station, and at the same time the second air gripper 4 moves to the clamping station, then the first air gripper 3 releases the workpiece, and the second air gripper 4 clamps the next workpiece, and this cycle is repeated to achieve the clamping and release of connected workpieces.

[0019] Furthermore, in order to ensure the accuracy of reaching the work position, a limit frame 202 is provided on the rotating cylinder 2 of this embodiment, and a limit assembly 5 is provided on the limit frame 202. The limit assembly 5 includes a buffer 501 and a limit rod 502. A positioning rod 6 is provided on the rotating disk 201. The positioning rod 6 includes a large end 601 arranged on the outside and a small end 602 arranged on the inside. The large end 601 cooperates with the buffer 501, and the small end 602 is adapted to the limit rod 502. A soft magnet 7 is provided on the limit rod 502, and an iron sheet 8 attracted to the soft magnet 7 is provided at the corresponding position of the limit rod 502. Through the above structure, when in use, the big end 601 is close to the outside and has a larger size, so it will first contact with the buffer 501 (the buffer can be an existing friction damper, hydraulic damper or air damper), thereby reducing the rotation speed, and then the small end 602 with a smaller size will abut against the limit rod 502 to stop the rotating disk 201, thereby reducing the speed first through the buffer and the big end, so that the rigid collision speed between the limit rod 502 and the small end is slower and the force is smaller, thereby avoiding the recoil of the rotating disk; and the big end is arranged on the outside so that it can be as perpendicular to the force of the buffer 501 as possible during the collision, so that the force is more stable. Therefore, although the buffer 501 is arranged on the inside, it can also contact in advance to reduce the speed, but the collision angle is too large when it is on the inside. When used for a long time, the buffer 501 is easy to be skewed due to the force. Therefore, it is preferred to arrange the buffer 501 on the outside, and then arrange the big end 601 with a larger size to contact it first, thereby reducing the collision speed.

[0020] At the same time, the rotating cylinder 2, the first air claw 3 and the second air claw 4 are all connected to the external air source through the solenoid valve. In this way, when the first air claw 3 and the second air claw 4 are in action, the air supply of the rotating cylinder 2 may become unstable. At this time, relying on the attraction of the soft magnet 7 and the iron sheet 8, the position of the rotating disk 201 remains stable, and the soft magnet 7 and the iron sheet 8 can also prevent recoil during collision through suction; after reducing the speed and force, the working noise generated during collision is also reduced.

[0021] Furthermore, two groups of limit assemblies 5 are provided, and the two groups of limit assemblies 5 are respectively arranged at both ends of the limit frame 202. Since the rotating disk will drive the air claw to reciprocate between the two workstations, the limit assemblies 5 are installed at both ends of the limit frame 202 to ensure the accuracy of the rotation position of the rotating disk 201.

[0022] Furthermore, the buffer 501 and the limit rod 502 are both threadedly connected to the limit frame 202. Through the threaded connection, the positions of the buffer 501 and the limit rod 502 can be adjusted, so that the rotation angle of the rotating disk 201 and the buffering distance of the buffer 501 can be flexibly adjusted according to actual needs.

[0023] Furthermore, a fine-tuning rod 5021 is provided on the limit rod 502, and a threaded hole is provided in the limit rod 502. The fine-tuning rod 5021 is threadedly matched with the threaded hole, and the soft magnet 7 is provided on the outer end face of the fine-tuning rod 5021; through the above structure, the fine-tuning rod 5021 can be rotated to limit and fine-tune the positioning rod 6 on the basis of the limit rod 502, so as to compensate for the wear caused by long-term impact, and the adjustment is convenient, and the pitch of the threaded match between the fine-tuning rod 5021 and the limit rod 502 is smaller than the pitch of the threaded match between the limit rod 502 and the limit frame 202, that is, the distance adjusted by the fine-tuning rod 5021 is more precise than that of the limit rod 502, which is suitable for fine-tuning of slight wear and adjustment when the precision required by the processing station is high.

[0024] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the design concept of the present invention should be included in the protection scope of the present invention.

Claims

1. A manipulator cylinder device, comprising a base (1), Features: The machine base (1) is provided with a rotary cylinder (2), the rotary cylinder (2) is provided with a rotary disk (201), the rotary disk (201) is provided with a first air gripper (3) and a second air gripper (4), the rotary cylinder (2) is provided with a limit frame (202), the limit frame (202) is provided with a limit assembly (5), the limit assembly (5) comprises a buffer (501) and a limit rod (502), the rotary A positioning rod (6) is arranged on the rotating disk (201), and the positioning rod (6) comprises a large end (601) and a small end (602). The large end (601) matches with the buffer (501), and the small end (602) matches with the limiting rod (502). A soft magnet (7) is arranged on the limiting rod (502), and an iron sheet (8) attracted to the soft magnet (7) is arranged at a corresponding position of the limiting rod (502).

2. A manipulator cylinder device according to claim 1, Features: The position limiting components (5) are provided in two groups, and the two groups of position limiting components (5) are respectively arranged at two ends of the position limiting frame (202).

3. A manipulator cylinder device according to claim 1, Features: The buffer (501) and the limiting rod (502) are both threadedly connected to the limiting frame (202).

4. A manipulator cylinder device according to claim 1 or 3, Features: A fine-tuning rod (5021) is arranged on the limiting rod (502), a threaded hole is arranged in the limiting rod (502), the fine-tuning rod (5021) is threadedly matched with the threaded hole, and the soft magnet (7) is arranged on the outer end surface of the fine-tuning rod (5021).

5. A manipulator cylinder device according to claim 1, Features: The first air gripper (3) and the second air gripper (4) are symmetrically arranged, and when the rotating disk (201) rotates 180 degrees, the first air gripper (3) and the second air gripper (4) exchange positions.

6. A manipulator cylinder device according to claim 1, Features: The rotary cylinder (2), the first air claw (3) and the second air claw (4) are all connected to an external air source via a solenoid valve.

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