Multifunctional pneumatic grabbing mechanism

Abstract

The utility model discloses a multifunctional pneumatic grabbing mechanism which comprises a rotating motor, a power output shaft of the rotating motor is downwards connected with a rotating seat, the lower end of the rotating seat is rotationally connected with two connecting strips rotating in a vertical plane, and the two connecting strips are distributed up and down and are parallel to each other. An electric telescopic rod is rotationally connected between the upper end of the rotating seat and the connecting strip above the rotating seat, and the free ends of the two connecting strips are rotationally connected with a grabbing head in a matched mode; the grabbing head is provided with a vertically-arranged piston cylinder, a grabbing telescopic motor is installed at the upper end of the piston cylinder, a power output shaft of the grabbing telescopic motor extends into the piston cylinder and is provided with a sliding piston slidably connected with the inner wall of the piston cylinder, and the lower end of the piston cylinder communicates with at least two downwards-arranged flexible air bag grabbing strips. The outer side of each flexible air bag grabbing strip communicates with a plurality of folding supporting air bags distributed in the height direction of the flexible air bag grabbing strip. The manipulator is high in degree of freedom, capable of meeting the grabbing requirements of various scenes, simple in structure and lower in manufacturing cost.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical grasping, in particular to a multifunctional pneumatic grasping mechanism. Background Art

[0002] In industrial production, gripping mechanisms are increasingly used. As an important part of automated production lines, they can quickly and accurately grasp and transfer workpieces, greatly improving production efficiency. However, with the in-depth development of industrial automation, the requirements for gripping mechanisms are becoming higher and higher, especially in terms of multi-degree-of-freedom operation, high-precision positioning and fast response.

[0003] At present, in order to realize these advanced functions of the gripping mechanism, many manufacturers have adopted complex robot arm designs. The robot arm can realize multi-axis linkage through the cooperation of multiple joints and drives, thereby realizing flexible gripping and transfer of workpieces. However, this design not only greatly increases the manufacturing cost of the gripping mechanism, but also makes its maintenance, care and operation more complicated. Utility Model Content

[0004] The purpose of the utility model is to provide a multifunctional pneumatic grasping mechanism, which has a high degree of freedom, can meet the grasping needs of various scenarios, and has a simple structure and lower manufacturing cost.

[0005] The above technical objectives of the utility model are achieved through the following technical solutions: a multifunctional pneumatic grabbing mechanism, comprising a rotating motor, characterized in that: the power output shaft of the rotating motor is connected downwardly with a rotating seat, the lower end of the rotating seat is rotatably connected with two connecting strips rotating in a vertical plane, the two connecting strips are distributed up and down and parallel to each other, an electric telescopic rod is rotatably connected between the upper end of the rotating seat and the upper connecting strip, and the free ends of the two connecting strips are rotatably connected with a grabbing head;

[0006] The grabbing head is provided with a vertically arranged piston cylinder, a grabbing and telescopic motor is installed at the upper end of the piston cylinder, a power output shaft of the grabbing and telescopic motor extends into the piston cylinder and is provided with a sliding piston which is slidably connected to the inner wall, the lower end of the piston cylinder is connected with at least two downwardly arranged flexible airbag grabbing strips, and the outer side of each flexible airbag grabbing strip is connected with a plurality of folding support airbags distributed along its height direction.

[0007] By adopting the above technical solution, when grasping, first the motor is rotated to drive the rotating seat to rotate, driving the grasping head to rotate to the required grasping position, the electric telescopic rod is extended, driving the connecting strip to rotate downward, driving the grasping head to move downward, so that the flexible airbag grasping strip is close to the object, and then the grasping telescopic motor drives the sliding piston to move downward, and pushes the gas in the piston cylinder into the flexible airbag grasping strip and the folding support airbag, and the folding support airbag bulges to make the flexible airbag grasping strip bend inward to grasp the object; then the electric telescopic rod is shortened to make the grasping head grasp the object and move up, the rotating motor rotates in the opposite direction to drive the grasping head to rotate to the placement position, the electric telescopic rod is extended again, so that the grasping head moves downward, and finally the grasping telescopic motor drives the sliding piston to move upward, the folding support airbag is evacuated and deflated, so that the flexible airbag grasping strip releases the object, and a grasping operation is completed.

[0008] The utility model is further configured as follows: a compensating telescopic motor is arranged at the upper end of the rotating motor, and a power output shaft of the compensating telescopic motor is connected downwardly to the upper end of the rotating motor.

[0009] The utility model is further configured as follows: the grabbing telescopic motor and the compensating telescopic motor are both voice coil linear motors.

[0010] The utility model is further configured as follows: the upper end of the piston cylinder is sealed and provided with a sliding hole slidably connected to the power output shaft of the grabbing and telescopic motor, and the outer periphery of the upper end of the piston cylinder is provided with a plurality of ventilation holes.

[0011] The utility model is further configured as follows: the flexible airbag grabbing strip and the folding support airbag are made of silicone material.

[0012] In summary, the utility model has the following beneficial effects:

[0013] First, the utility model can rotate left and right, move up and down, has high automation, can meet the grasping needs of various scenes, and has a simple structure. Compared with using a mechanical arm, the manufacturing cost is lower;

[0014] Secondly, the utility model uses a flexible pneumatic structure to grasp objects, which can grasp objects of different shapes, grasp firmly, and is not easy to damage the objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 It is a partial cross-sectional view used to show the sliding piston in the piston cylinder.

[0017] In the figure: 1. rotating motor; 2. compensating telescopic motor; 3. rotating seat; 4. connecting strip; 5. electric telescopic rod; 6. grabbing head; 7. piston cylinder; 8. grabbing telescopic motor; 9. sliding piston; 10. vent hole; 11. flexible airbag grabbing strip; 12. folding support airbag. DETAILED DESCRIPTION

[0018] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0019] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0020] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0021] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] Example, see Figure 1-2 A multifunctional pneumatic grasping mechanism includes a rotating motor 1, and a compensating telescopic motor 2 is arranged at the upper end of the rotating motor 1. The compensating telescopic motor 2 is a voice coil linear motor, and the power output shaft of the compensating telescopic motor 2 is connected downwardly to the upper end of the rotating motor 1. The power output shaft of the rotating motor 1 is connected downwardly to a rotating seat 3, and the lower end of the rotating seat 3 is rotatably connected to two connecting strips 4 that rotate in a vertical plane. The two connecting strips 4 are distributed up and down and are parallel to each other. An electric telescopic rod 5 is rotatably connected between the upper end of the rotating seat 3 and the upper connecting strip 4. The connecting strip 4 is driven to rise or fall by the extension and contraction of the electric telescopic rod 5. The free ends of the two connecting strips 4 are rotatably connected to a grasping head 6. Through the connection of the two mutually parallel connecting strips 4, the grasping head 6 can always remain parallel to the rotating seat 3.

[0023] The grabbing head 6 is provided with a vertically arranged piston cylinder 7, and a grabbing and telescopic motor 8 is installed on the upper end of the piston cylinder 7. The grabbing and telescopic motor 8 is a voice coil linear motor. The power output shaft of the grabbing and telescopic motor 8 extends into the piston cylinder 7 and is provided with a sliding piston 9 that is slidably connected to the inner wall. The upper end of the piston cylinder 7 is sealed and has a sliding hole (omitted in the figure) that is slidably connected to the power output shaft of the grabbing and telescopic motor 8. The outer periphery of the upper end of the piston cylinder 7 is provided with multiple ventilation holes 10, so that the air pressure on the upper part of the sliding piston 9 can be balanced when the sliding piston 9 slides up and down. The lower end of the piston cylinder 7 is connected to three downwardly arranged flexible airbag grabbing strips 11. At least two flexible airbag grabbing strips 11 need to be set to cooperate in grabbing objects. The outer side of each flexible airbag grabbing strip 11 is connected to multiple folding support airbags 12 distributed along its height direction. The flexible airbag grabbing strip 11 and the folding support airbag 12 are made of silicone material. The folding support airbag 12 is inflated to make the flexible airbag grabbing strip 11 bend inward, and the folding support airbag 12 is deflated to make the flexible airbag grabbing strip 11 bend outward.

[0024] Working principle: When grasping, first rotate the motor 1 to drive the rotating seat 3 to rotate, drive the grasping head 6 to rotate to the required grasping position, the electric telescopic rod 5 extends, drives the connecting strip 4 to rotate downward, and drives the grasping head 6 to move downward. During the process, the compensation telescopic motor 2 is extended and retracted to perform height compensation, so that the flexible airbag grasping strip 11 is close to the object, and then the grasping telescopic motor 8 drives the sliding piston 9 to move downward, and pushes the gas in the piston cylinder 7 into the flexible airbag grasping strip 11 and the folding support airbag 12. The folding support airbag 12 bulges to make the flexible airbag grasping strip 11 bend inward to grasp the object; then the electric telescopic rod 5 shortens to make the grasping head 6 grasp the object and move up, and the rotating motor 1 rotates in the opposite direction to drive the grasping head 6 to rotate to the placement position, and the electric telescopic rod 5 extends again to make the grasping head 6 move downward, and finally the grasping telescopic motor 8 drives the sliding piston 9 to move upward, and the folding support airbag 12 is deflating to make the flexible airbag grasping strip 11 release the object, completing a grasping operation.

[0025] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A multifunctional pneumatic gripping mechanism, comprising a rotary motor (1), characterized in that: The power output shaft of the rotating motor (1) is connected downwardly to a rotating seat (3), the lower end of the rotating seat (3) is rotatably connected to two connecting bars (4) that rotate in a vertical plane, the two connecting bars (4) are distributed up and down and are parallel to each other, an electric telescopic rod (5) is rotatably connected between the upper end of the rotating seat (3) and the upper connecting bar (4), and the free ends of the two connecting bars (4) are rotatably connected to a grabbing head (6); The grabbing head (6) is provided with a vertically arranged piston cylinder (7), the upper end of which is provided with a grabbing telescopic motor (8), the power output shaft of which extends into the piston cylinder (7) and is provided with a sliding piston (9) which is slidably connected to the inner wall, the lower end of the piston cylinder (7) is connected with at least two downwardly arranged flexible airbag grabbing strips (11), and the outer side of each flexible airbag grabbing strip (11) is connected with a plurality of folding support airbags (12) distributed along its height direction.

2. A multifunctional pneumatic gripping mechanism according to claim 1, characterized in that: A compensating telescopic motor (2) is provided at the upper end of the rotating motor (1), and a power output shaft of the compensating telescopic motor (2) is connected downwardly to the upper end of the rotating motor (1).

3. A multifunctional pneumatic gripping mechanism according to claim 2, characterized in that: The grabbing telescopic motor (8) and the compensating telescopic motor (2) are both voice coil linear motors.

4. A multifunctional pneumatic gripping mechanism according to claim 1, characterized in that: The upper end of the piston cylinder (7) is sealed and is provided with a sliding hole that is slidably connected to the power output shaft of the grabbing and telescopic motor (8). The outer periphery of the upper end of the piston cylinder (7) is provided with a plurality of ventilation holes (10).

5. The multifunctional pneumatic gripping mechanism according to claim 1, characterized in that: The flexible airbag grabbing strip (11) and the folding support airbag (12) are made of silica gel material.

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