Anti-winding clamping jaw at tail end of manipulator

Abstract

The utility model discloses an anti-winding clamping jaw at the tail end of a manipulator, and belongs to the technical field of clamping jaws. The device mainly comprises a manipulator and a clamping assembly, and further comprises a connecting assembly used for connecting the clamping assembly with the manipulator and an anti-winding assembly used for preventing an air pipe on the outer side of the clamping assembly from being wound. According to the anti-winding clamping jaw at the tail end of the mechanical arm, an air pipe of air source equipment communicates with an air hole of a pneumatic finger air cylinder through a rotating connector, an airflow channel, a fixed connector and a connecting pipe, under the arrangement of the rotating connector, the air pipe located at the end of the rotating connector can be kept in a static state, and meanwhile a connecting shaft can freely rotate; therefore, the phenomenon that the air pipe is wound when the pneumatic finger cylinder rotates is prevented.

Description

Technical Field

[0001] The present application relates to the technical field of clamping claws, and in particular to an anti-winding clamping claw at the end of a manipulator. Background Art

[0002] A manipulator is an industrial robot that is often used in automated production lines to perform tasks such as material handling, assembly and processing. The end of the manipulator is often equipped with a gripper for gripping, grabbing and placing objects. The gripper usually consists of controllable fingers or clamps that can be opened, closed or repositioned as needed to accommodate objects of different shapes and sizes.

[0003] At present, the end grippers of most manipulators are composed of finger cylinders and clamps. These cylinders are connected to air pipes, which are driven by internal gas to control the clamping or releasing action. However, the air pipes of most finger cylinders are connected to the outside. When the manipulator drives the gripper to rotate as a whole, the air pipes at the outside position are very likely to get entangled, causing damage to the air pipes, which in turn affects the normal operation of the gripper.

[0004] Therefore, it is necessary to provide an anti-winding clamp at the end of a robot to solve the above problems.

[0005] It should be noted that the above information disclosed in this background technology section is only for understanding the background technology of the present application concept, and therefore, it may contain information that does not constitute the prior art. Summary of the invention

[0006] Based on the above problems existing in the prior art, the problem to be solved by the present application is: to provide an anti-winding clamping claw at the end of a manipulator, so as to prevent the air pipe outside the finger cylinder from being entangled.

[0007] The technical solution adopted by the present application to solve the technical problem is: an anti-winding clamping claw at the end of a manipulator, including a manipulator and a clamping assembly, and also including a connecting assembly for connecting the clamping assembly to the manipulator and an anti-winding assembly for preventing the air pipe outside the clamping assembly from winding;

[0008] The clamping assembly comprises a pneumatic finger cylinder and a clamping plate arranged at the output end of the pneumatic finger cylinder.

[0009] Furthermore, the anti-winding component includes a connecting shaft, an air flow channel is opened inside the connecting shaft, a rotating joint is connected to the top of the connecting shaft, the rotating joint is connected to the air flow channel, a fixed joint connected to the air flow channel is provided on the outside of the connecting shaft, one end of the fixed joint is connected to a connecting pipe, and one end of the connecting pipe is connected to the air hole of the pneumatic finger cylinder.

[0010] Furthermore, the end of the rotary joint is connected to the air source and the control system through an air pipe.

[0011] Furthermore, the connecting assembly includes a fixing seat, the top of the fixing seat is provided with a flange for connecting to the end of the manipulator, and the flange is connected to the manipulator by bolts.

[0012] Furthermore, a bearing is provided on the fixing seat, and the connecting shaft is rotatably connected to the fixing seat via the bearing.

[0013] Furthermore, a transmission assembly for driving the connecting shaft to rotate is provided at the upper end of the fixing seat.

[0014] Furthermore, the transmission assembly includes a first transmission wheel rotatably connected to the upper end of the fixed base, the first transmission wheel is connected to the end rotating shaft of the manipulator, a second transmission wheel is provided on the outer side of the connecting shaft, and a belt is connected to the outer sides of the first transmission wheel and the second transmission wheel.

[0015] The beneficial effects of the present application are as follows: the present application provides an anti-entanglement clamp at the end of a manipulator, which drives the connecting shaft to rotate the pneumatic finger cylinder when the manipulator drives the connecting shaft through a transmission component, thereby changing its rotation angle, and connecting the air pipe of the air source equipment with the air hole of the pneumatic finger cylinder through a rotating joint, an air flow channel, a fixed joint and a connecting pipe. Under the setting of the rotating joint, the air pipe at the end of the rotating joint can remain stationary, and the connecting shaft can rotate freely, thereby preventing the air pipe from getting entangled when the pneumatic finger cylinder rotates.

[0016] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0018] In the attached picture:

[0019] Figure 1 This is an overall schematic diagram of an anti-winding gripper at the end of a robot in this application;

[0020] Figure 2 A schematic diagram of a clamping component and a connecting component of an anti-winding clamping claw at the end of a manipulator;

[0021] Figure 3 A schematic diagram of an anti-winding component of an anti-winding gripper at the end of a robot;

[0022] Figure 4 A schematic diagram of a transmission component of an anti-winding gripper at the end of a manipulator;

[0023] Among them, the reference numerals in the figure are:

[0024] 1. Manipulator; 2. Connecting assembly; 21. Fixed seat; 211. Bearing; 22. Flange; 3. Clamping assembly; 31. Pneumatic finger cylinder; 32. Clamping plate; 4. Anti-winding assembly; 41. Connecting shaft; 411. Air flow channel; 42. Rotary joint; 43. Fixed joint; 44. Connecting pipe; 5. Transmission assembly; 51. First transmission wheel; 52. Second transmission wheel; 53. Belt. DETAILED DESCRIPTION

[0025] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0027] like Figures 1 to 4 As shown, the present application provides an anti-winding clamping claw at the end of a manipulator, comprising a manipulator 1 and a clamping assembly 3, and also comprising a connecting assembly 2 for connecting the clamping assembly 3 with the manipulator 1 and an anti-winding assembly 4 for preventing the air pipe outside the clamping assembly 3 from winding;

[0028] The connecting assembly 2 includes a fixing seat 21, a flange 22 for connecting to the end of the manipulator 1 is provided on the top of the fixing seat 21, and the flange 22 is connected to the end of the manipulator 1 by bolts;

[0029] The clamping assembly 3 includes a pneumatic finger cylinder 31 and a clamping plate 32 provided at the output end of the pneumatic finger cylinder 31;

[0030] The anti-winding component 4 includes a connecting shaft 41 rotatably connected to the fixing seat 21, an air flow channel 411 for air flow to pass through is provided inside the connecting shaft 41, a rotating joint 42 is installed on the top of the connecting shaft 41, one end of the rotating joint 42 is connected to the air source equipment through an air pipe, a fixed joint 43 is installed on one side of the connecting shaft 41, the fixed joint 43 is connected to the air flow channel 411 inside the connecting shaft 41, and a connecting pipe 44 is installed at the end of the fixed joint 43. The connecting pipe 44 is preferably made of a rigid material, one end of the connecting pipe 44 is threadedly connected to the air hole of the pneumatic finger cylinder 31, and air is supplied through the air source equipment. The air flow enters the inside of the pneumatic finger cylinder 31 through the rotating joint 42, the air flow channel 411 and the connecting pipe 44, so that the pneumatic finger cylinder 31 drives the clamping plate 32 at its output end to clamp;

[0031] A transmission assembly 5 is provided on the fixed seat 21, and the transmission assembly 5 is used to drive the end shaft of the manipulator 1 to rotate synchronously with the connecting shaft 41;

[0032] In this embodiment, the flange 22 is connected to the end of the manipulator 1 by bolts, and the transmission assembly 5 is driven by the rotating shaft at the end of the manipulator 1 to work, and the transmission assembly 5 drives the connecting shaft 41 to rotate. When the connecting shaft 41 rotates, the connecting shaft 41 drives the pneumatic finger cylinder 31 to rotate, and at the same time drives the connecting pipe 44 to rotate synchronously. The synchronous rotation of the connecting pipe 44, the connecting shaft 41 and the pneumatic finger cylinder 31 can prevent the connecting pipe 44 from being entangled on the outside of the pneumatic finger cylinder 31, and under the connection of the rotating joint 42, the air pipe at the end of the rotating joint 42 can remain stationary, and the connecting shaft 41 can rotate freely, thereby not affecting the rotation of the connecting shaft 41, thereby avoiding the air pipe being directly connected to the pneumatic finger cylinder 31, causing the air pipe to be entangled when it rotates, thereby preventing it from affecting the normal operation of the gripper.

[0033] like Figures 1 to 4 As shown, a bearing 211 is provided on the fixed seat 21, and the connecting shaft 41 is rotatably connected to the fixed seat 21 through the bearing 211. The transmission assembly 5 includes a first transmission wheel 51 rotatably connected to the upper end of the fixed seat 21, and a second transmission wheel 52 is sleeved on the outer side of the connecting shaft 41. Belts 53 are provided on the outer sides of the first transmission wheel 51 and the second transmission wheel 52, and the first transmission wheel 51 is transmission-connected to the second transmission wheel 52 through the belt 53.

[0034] In this embodiment, during installation, the rotating shaft at the end of the manipulator 1 is connected to the first transmission wheel 51. When the rotating shaft at the end of the manipulator 1 drives the first transmission wheel 51 to rotate, the first transmission wheel 51 drives the second transmission wheel 52 to rotate through the belt 53, the second transmission wheel 52 drives the connecting shaft 41 to rotate, and the connecting shaft 41 drives the pneumatic finger cylinder 31 to rotate, so that the angle of the splint 32 located at the output end of the pneumatic finger cylinder 31 can be adjusted.

[0035] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A manipulator end anti-winding clamp, comprising a manipulator (1) and a clamping assembly (3), characterized in that: It also includes a connection component (2) for connecting the clamping component (3) to the manipulator (1) and an anti-winding component (4) for preventing the air tube outside the clamping component (3) from winding; The clamping assembly (3) comprises a pneumatic finger cylinder (31) and a clamping plate (32) arranged at the output end of the pneumatic finger cylinder (31).

2. The anti-winding gripper at the end of a manipulator according to claim 1, characterized in that: The anti-winding component (4) comprises a connecting shaft (41), an air flow channel (411) is provided inside the connecting shaft (41), a rotating joint (42) is connected to the top of the connecting shaft (41), the rotating joint (42) is communicated with the air flow channel (411), a fixed joint (43) is provided on the outside of the connecting shaft (41) and is communicated with the air flow channel (411), one end of the fixed joint (43) is connected to a connecting pipe (44), and one end of the connecting pipe (44) is connected to the air hole of the pneumatic finger cylinder (31).

3. The anti-winding gripper at the end of a manipulator according to claim 2, characterized in that: The end of the rotary joint (42) is connected to the air source equipment via an air pipe.

4. The anti-winding gripper at the end of a manipulator according to claim 3, characterized in that: The connection assembly (2) comprises a fixing seat (21), the top of the fixing seat (21) is provided with a flange (22) for connecting to the end of the manipulator (1), and the flange (22) is connected to the manipulator (1) via bolts.

5. The anti-winding gripper at the end of a manipulator according to claim 4, characterized in that: A bearing (211) is provided on the fixing seat (21), and the connecting shaft (41) is rotatably connected to the fixing seat (21) via the bearing (211).

6. The anti-winding gripper at the end of a manipulator according to claim 5, characterized in that: The upper end of the fixing seat (21) is provided with a transmission assembly (5) for driving the connecting shaft (41) to rotate.

7. The anti-winding gripper at the end of a manipulator according to claim 6, characterized in that: The transmission assembly (5) comprises a first transmission wheel (51) rotatably connected to the upper end of the fixed seat (21), the first transmission wheel (51) being connected to the end rotation shaft of the manipulator (1), a second transmission wheel (52) being provided on the outer side of the connecting shaft (41), and a belt (53) being connected to the outer sides of the first transmission wheel (51) and the second transmission wheel (52).

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