Pneumatic claw clamping type feeding manipulator

Abstract

The utility model discloses a pneumatic claw clamping type feeding mechanical arm which comprises a machine body and a connecting rod assembly arranged in the machine body, and is characterized by further comprising a mounting base, a finger air cylinder is arranged at the end of the mounting base, two rotating finger air cylinder clamping claws are arranged on one side of the finger air cylinder, workpiece clamping claws are arranged at the ends of the finger air cylinder clamping claws, and the workpiece clamping claws are arranged on the mounting base. A first driving assembly, a second driving assembly and a third driving assembly are arranged in the machine body, and the first driving assembly, the second driving assembly and the third driving assembly drive the connecting rod assembly to swing so that the mounting base and the finger air cylinder can move. According to the equipment, through a multi-group connecting rod structure consisting of a first connecting rod, a second connecting rod, a mounting seat, a finger cylinder, a finger cylinder clamping jaw, an eighth connecting rod, a ninth connecting rod, a seventh connecting rod, a sixth connecting rod, a fourth connecting rod, a fifth connecting rod and a third connecting rod, the finger cylinder and the finger cylinder clamping jaw can drive a workpiece clamping jaw to clamp a container and then move and turn over.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to an air claw clamping type feeding manipulator. Background Art

[0002] The use of automated equipment in production can significantly improve production efficiency and can replace manual labor to complete some process steps. The equipment used in this process is a feeding robot. The existing feeding robot has many disadvantages. For example, since the feeding process requires the mechanical claws to be linked through multiple sets of connecting rods to achieve the function of action switching, the existing feeding robot has a complex structure and uses more motors for linkage, which is costly. People have conducted a lot of research on this.

[0003] For example: The Chinese patent document "A loading robot" with publication number CN221021010U includes a first connecting rod, a second connecting rod is hingedly provided on one side of the first connecting rod, a bracket is hingedly provided on the end of the second connecting rod, a third connecting rod is hingedly provided on one side of the bracket, and a fourth connecting rod is hingedly provided on one side of the third connecting rod. It is characterized in that it also includes a rotating mating gear, a front fan gear is meshed on one side of the mating gear, a push rod is hingedly provided on one side of the front fan gear, an outer corner block is hingedly provided on the end of the push rod, the outer corner block is hingedly provided on one side of the rotating rod, the rotating rod is provided at the hinge between the third connecting rod and the fourth connecting rod, a first mating rod is hingedly provided in the outer corner block, a connecting block is hingedly provided at one end of the first mating rod, the connecting block is fixed to the bracket, a claw is provided at the end of the bracket, and the claw is driven to open and close by a driving device.

[0004] It can be seen that in the above-mentioned prior art, the manipulator has a complex structure and uses a large number of motors, resulting in a high cost. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide an air claw clamping type feeding manipulator, which can solve the above-mentioned problems in the existing technology.

[0006] The utility model is realized through the following technical scheme: an air claw clamping feeding robot of the utility model comprises a machine body, a connecting rod assembly is arranged in the machine body, and is characterized in that it also comprises a mounting seat, a finger cylinder is arranged at the end of the mounting seat, two rotating finger cylinder clamps are arranged on one side of the finger cylinder, a workpiece clamp is arranged at the end of the finger cylinder clamp, a first drive assembly, a second drive assembly and a third drive assembly are arranged in the machine body, and the first drive assembly, the second drive assembly and the third drive assembly drive the connecting rod assembly to swing and then make the mounting seat and the finger cylinder move.

[0007] According to a further technical solution, the connecting rod assembly includes a first connecting rod, a seventh connecting rod and a ninth connecting rod rotatably arranged in the body, the first connecting rod is dynamically connected to the first drive assembly, the seventh connecting rod is dynamically connected to the second drive assembly, and the ninth connecting rod is dynamically connected to the third drive assembly.

[0008] According to a further technical solution, the first drive assembly includes a first motor, the second drive assembly includes a second motor, and the third drive assembly includes a third motor. One side of the first motor is poweredly connected to a first rotating shaft, one side of the second motor is poweredly connected to a second rotating shaft, and one side of the third motor is poweredly connected to a third rotating shaft.

[0009] According to a further technical solution, the first connecting rod is fixed to the outer surface of the first rotating shaft, a transmission structure is provided between the second rotating shaft and the seventh connecting rod to transmit the rotational power of the second rotating shaft to the seventh connecting rod, and the ninth connecting rod is fixed to the outer surface of the third rotating shaft.

[0010] According to a further technical solution, the seventh connecting rod is rotatably arranged on the outer surface of the first rotating shaft.

[0011] According to a further technical solution, the transmission structure includes a driving gear disposed on the outer surface of the second rotating shaft, a driven gear is meshedly disposed on one side of the driving gear, and the driven gear is fixedly disposed on the seventh connecting rod.

[0012] According to a further technical solution, the connecting rod assembly also includes a rotating shaft arranged in the first connecting rod, a second connecting rod is rotatably arranged on the outer surface of the rotating shaft, the second connecting rod is rotatably connected to the mounting seat, a third connecting rod is rotatably arranged on one side of the mounting seat, a fourth connecting rod is rotatably arranged on the outer surface of the rotating shaft, a fifth connecting rod is rotatably arranged between the fourth connecting rod and the third connecting rod, a sixth connecting rod is hingedly arranged on one side of the fourth connecting rod, the seventh connecting rod is hingedly arranged on one side of the sixth connecting rod, an eighth connecting rod is hingedly arranged in the mounting seat, and the ninth connecting rod is hingedly arranged in the eighth connecting rod.

[0013] According to a further technical solution, a mounting plate is provided on one side of the mounting seat, and the finger cylinder is mounted on one side of the mounting plate.

[0014] According to a further technical solution, the hinge points between the fifth link and the fourth link, the hinge points between the fourth link and the rotating shaft, the hinge points between the fifth link and the third link, and the hinge points between the third link and the mounting seat are distributed in a parallelogram shape.

[0015] According to a further technical solution, the hinge point between the fourth connecting rod and the rotating shaft, the hinge point between the fourth connecting rod and the sixth connecting rod, the hinge point between the sixth connecting rod and the seventh connecting rod, and the hinge point of the seventh connecting rod located in the body are distributed in a parallelogram shape.

[0016] The beneficial effects of the utility model are:

[0017] 1. Compared with the prior art, by setting up the finger cylinder, the finger cylinder jaws and the workpiece jaws, the connecting rod structure for driving the workpiece jaws to open and close and the driving structure corresponding to the connecting rod structure are omitted, the equipment structure is relatively simple and the cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] For ease of explanation, the present invention is described in detail by the following specific embodiments and drawings.

[0019] Figure 1 This is a schematic diagram of the overall structure of an air claw clamping feeding manipulator of the utility model;

[0020] Figure 2 for Figure 1 A cross-sectional schematic diagram of the device;

[0021] Figure 3 for Figure 2 Schematic diagram at A in the middle;

[0022] Figure 4 for Figure 2 Schematic diagram at B in the middle;

[0023] Figure 5 for Figure 1 Schematic diagram of the rear structure of the device;

[0024] Figure 6 for Figure 1 Schematic diagram of the moving trajectory of the container;

[0025] In the figure, the first motor 11, the second motor 12, the third motor 13, the body 14, the driven gear 22, the ninth connecting rod 23, the third rotating shaft 24, the driving gear 25, the second rotating shaft 26, the seventh connecting rod 27, the first rotating shaft 28, the sixth connecting rod 29, the fifth connecting rod 31, the fourth connecting rod 32, the second connecting rod 33, the rotating shaft 34, the first connecting rod 35, the eighth connecting rod 36, the third connecting rod 41, the mounting seat 42, the finger cylinder 43, the finger cylinder jaws 44, the workpiece jaws 45, and the mounting plate 46. DETAILED DESCRIPTION

[0026] like Figure 1-Figure 6 As shown, the utility model is described in detail. For the convenience of description, the directions mentioned below are defined as follows: the up, down, left, right, front and back directions mentioned below are Figure 1 The up-down, left-right, front-back directions of the projection relationship are consistent. The utility model is an air gripper clamping type feeding robot, including a body 14, a first connecting rod 35 is arranged in the body 14, a rotating shaft 34 is arranged in the first connecting rod 35, a second connecting rod 33 is rotatably arranged on the outer surface of the rotating shaft 34, a mounting seat 42 is rotatably arranged at the bottom of the second connecting rod 33, a third connecting rod 41 is rotatably arranged on one side of the mounting seat 42, a fourth connecting rod 32 is rotatably arranged on the outer surface of the rotating shaft 34, a fifth connecting rod 31 is rotatably arranged between the fourth connecting rod 32 and the third connecting rod 41, a sixth connecting rod 29 is hingedly arranged on one side of the fourth connecting rod 32, a seventh connecting rod 27 is hingedly arranged on one side of the sixth connecting rod 29, an eighth connecting rod 36 is hingedly arranged in the mounting seat 42, a ninth connecting rod 23 is hingedly arranged in the eighth connecting rod 36, an air gripper assembly is arranged at the end of the mounting seat 42, and the first connecting rod 35, the seventh connecting rod 27 and the ninth connecting rod 23 are rotatably arranged in the body 14.

[0027] Advantageously, a first drive assembly, a second drive assembly and a third drive assembly are disposed in the body 14 , the first drive assembly drives the first connecting rod 35 to rotate, the second drive assembly drives the seventh connecting rod 27 to rotate, and the third drive assembly drives the ninth connecting rod 23 to rotate.

[0028] Advantageously, the air gripper assembly includes a mounting plate 46 disposed on one side of a mounting base 42, a finger cylinder 43 is disposed on one side of the mounting plate 46, two rotating finger cylinder jaws 44 are disposed on one side of the finger cylinder 43, a workpiece jaw 45 is disposed at the end of the finger cylinder jaw 44, and the workpiece jaw 45 is used to clamp the container. The finger cylinder 43 and the finger cylinder jaw 44 are prior art.

[0029] Embodiment 2

[0030] Based on the first embodiment, the second embodiment further limits the first embodiment.

[0031] Advantageously, the third link 41 , the eighth link 36 and the second link 33 rotate around the same axis.

[0032] Advantageously, the seventh connecting rod 27 is rotated about the rotation axis of the first connecting rod 35 .

[0033] Advantageously, the fourth link 32 is provided with two forks, one of which is hingedly arranged with the fifth link 31 , and the other of which is hingedly arranged with the sixth link 29 .

[0034] Advantageously, the hinge points between the fifth link 31 and the fourth link 32 , between the fourth link 32 and the rotating shaft 34 , between the fifth link 31 and the third link 41 , and between the third link 41 and the mounting seat 42 are distributed in a parallelogram shape.

[0035] Advantageously, the hinge points between the fourth link 32 and the rotating shaft 34 , the hinge points between the fourth link 32 and the sixth link 29 , the hinge points between the sixth link 29 and the seventh link 27 , and the hinge points of the seventh link 27 in the body 14 are distributed in a parallelogram shape.

[0036] Embodiment 3

[0037] Based on the second embodiment, the third embodiment further limits the first embodiment.

[0038] Advantageously, the first drive assembly includes a first motor 11, the second drive assembly includes a second motor 12, and the third drive assembly includes a third motor 13. A first rotating shaft 28 is provided on one side of the first motor 11 for power connection, a second rotating shaft 26 is provided on one side of the second motor 12 for power connection, and a third rotating shaft 24 is provided on one side of the third motor 13 for power connection. The first motor 11, the second motor 12 and the third motor 13 are arranged in parallel.

[0039] Advantageously, the first motor 11 , the second motor 12 and the third motor 13 may also be used in conjunction with a reducer.

[0040] Advantageously, the first connecting rod 35 is fixed to the outer surface of the first rotating shaft 28 , a transmission structure is provided between the second rotating shaft 26 and the seventh connecting rod 27 to transmit the rotational power of the second rotating shaft 26 to the seventh connecting rod 27 , and the ninth connecting rod 23 is fixed to the outer surface of the third rotating shaft 24 .

[0041] Advantageously, the seventh connecting rod 27 is rotatably disposed on the outer surface of the first rotating shaft 28 .

[0042] Advantageously, the transmission structure includes a driving gear 25 disposed on the outer surface of the second rotating shaft 26 , a driven gear 22 is meshedly disposed on one side of the driving gear 25 , and the driven gear 22 is fixedly disposed with the seventh connecting rod 27 .

[0043] Advantageously, the driven gear 22 is rotatably disposed on the outer surface of the first rotating shaft 28 , and the driven gear 22 and the seventh connecting rod 27 can be fixedly connected by bolts.

[0044] The device uses a plurality of connecting rod structures consisting of a first connecting rod 35, a second connecting rod 33, a mounting seat 42, a finger cylinder 43, a finger cylinder clamp 44, an eighth connecting rod 36, a ninth connecting rod 23, a seventh connecting rod 27, a sixth connecting rod 29, a fourth connecting rod 32, a fifth connecting rod 31 and a third connecting rod 41. The finger cylinder 43 and the finger cylinder clamp 44 drive the workpiece clamp 45 to move and flip the container after clamping it. Compared with the prior art, a group of connecting rod structures and a driving structure are omitted.

[0045] After the first motor 11 works, it drives the first rotating shaft 28 to rotate, so that the first rotating shaft 28 drives the first connecting rod 35 to swing; after the third motor 13 works, it drives the ninth connecting rod 23 to rotate, and under the action of the connecting rod structure composed of the ninth connecting rod 23, the eighth connecting rod 36, the mounting seat 42, the first connecting rod 35 and the second connecting rod 33, the mounting seat 42 can be moved. The action process can refer to the prior art content recorded in the prior art in the background technology.

[0046] After the second motor 12 starts working, it drives the second rotating shaft 26 to rotate. Under the action of the driving gear 25 and the driven gear 22, the seventh connecting rod 27 is swung. Under the action of the structure composed of the sixth connecting rod 29, the fourth connecting rod 32, the fifth connecting rod 31, the third connecting rod 41 and the mounting seat 42, the mounting seat 42 can be flipped. The action process can refer to the prior art content recorded in the prior art in the background technology.

[0047] After working, the finger cylinder 43 moves the finger cylinder clamping jaws 44, so that the finger cylinder clamping jaws 44 drive the workpiece clamping jaws 45 to open or clamp each other, so as to release or clamp the container.

[0048] Figure 6 It is a schematic diagram of one of the trajectories of the device for clamping a container for operation. For the specific working process, reference can be made to the prior art content recorded in the prior art in the background technology.

[0049] The above are only specific implementations of the utility model, but the protection scope of the utility model is not limited thereto. Any changes or substitutions that are not conceived through creative work should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope defined in the claims.

Claims

1. An air claw clamping feeding robot, comprising a body (14), wherein a connecting rod assembly is arranged in the body (14), characterized in that: The invention also comprises a mounting seat (42), a finger cylinder (43) being arranged at the end of the mounting seat (42), two rotatable finger cylinder clamps (44) being arranged on one side of the finger cylinder (43), a workpiece clamp (45) being arranged at the end of the finger cylinder clamp (44), a first driving assembly, a second driving assembly and a third driving assembly being arranged in the machine body (14), and the first driving assembly, the second driving assembly and the third driving assembly driving the connecting rod assembly to move the mounting seat (42) and the finger cylinder (43).

2. The pneumatic gripper feeding robot according to claim 1 is characterized in that: The connecting rod assembly comprises a first connecting rod (35), a seventh connecting rod (27) and a ninth connecting rod (23) which are rotatably arranged in the body (14), wherein the first connecting rod (35) is dynamically connected to the first driving assembly, the seventh connecting rod (27) is dynamically connected to the second driving assembly, and the ninth connecting rod (23) is dynamically connected to the third driving assembly.

3. The pneumatic gripper feeding robot according to claim 2 is characterized in that: The first drive assembly comprises a first motor (11), the second drive assembly comprises a second motor (12), and the third drive assembly comprises a third motor (13); one side of the first motor (11) is connected to a first rotating shaft (28) by power, one side of the second motor (12) is connected to a second rotating shaft (26) by power, and one side of the third motor (13) is connected to a third rotating shaft (24) by power.

4. The pneumatic gripper feeding robot according to claim 3 is characterized in that: The first connecting rod (35) is fixed to the outer surface of the first rotating shaft (28), a transmission structure is provided between the second rotating shaft (26) and the seventh connecting rod (27) to transmit the rotational power of the second rotating shaft (26) to the seventh connecting rod (27), and the ninth connecting rod (23) is fixed to the outer surface of the third rotating shaft (24).

5. The pneumatic gripper-type feeding robot according to claim 4 is characterized in that: The seventh connecting rod (27) is rotatably arranged on the outer surface of the first rotating shaft (28).

6. The pneumatic gripper-type feeding robot according to claim 4 or 5, characterized in that: The transmission structure comprises a driving gear (25) arranged on the outer surface of the second rotating shaft (26), a driven gear (22) meshingly arranged on one side of the driving gear (25), and the driven gear (22) is fixedly arranged with the seventh connecting rod (27).

7. The pneumatic gripper-type feeding robot according to claim 4 is characterized in that: The connecting rod assembly also includes a rotating shaft (34) arranged in the first connecting rod (35), a second connecting rod (33) is rotatably arranged on the outer surface of the rotating shaft (34), the second connecting rod (33) is rotatably connected to the mounting seat (42), a third connecting rod (41) is rotatably arranged on one side of the mounting seat (42), a fourth connecting rod (32) is rotatably arranged on the outer surface of the rotating shaft (34), a fifth connecting rod (31) is rotatably arranged between the fourth connecting rod (32) and the third connecting rod (41), a sixth connecting rod (29) is hingedly arranged on one side of the fourth connecting rod (32), the seventh connecting rod (27) is hingedly arranged on one side of the sixth connecting rod (29), an eighth connecting rod (36) is hingedly arranged in the mounting seat (42), and the ninth connecting rod (23) is hingedly arranged in the eighth connecting rod (36).

8. An air claw clamping feeding robot according to any one of claims 1 to 5, characterized in that: A mounting plate (46) is provided on one side of the mounting seat (42), and the finger cylinder (43) is mounted on one side of the mounting plate (46).

9. The pneumatic gripper-type feeding robot according to claim 7, characterized in that: The hinge point between the fifth connecting rod (31) and the fourth connecting rod (32), the hinge point between the fourth connecting rod (32) and the rotating shaft (34), the hinge point between the fifth connecting rod (31) and the third connecting rod (41), and the hinge point between the third connecting rod (41) and the mounting seat (42) are distributed in a parallelogram shape.

10. The pneumatic gripper-type feeding robot according to claim 7, characterized in that: The hinge point between the fourth connecting rod (32) and the rotating shaft (34), the hinge point between the fourth connecting rod (32) and the sixth connecting rod (29), the hinge point between the sixth connecting rod (29) and the seventh connecting rod (27), and the hinge point of the seventh connecting rod (27) located in the body (14) are distributed in the form of a parallelogram.

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