A highly flexible pneumatic manipulator

Abstract

The utility model discloses a highly flexible pneumatic manipulator, comprising: a linear module; a moving guide rail, which is horizontally and vertically arranged on a moving slide of the linear module; a moving slide, which is slidably placed on the top of the moving guide rail, and a No. 2 air cylinder for driving the moving slide to move is fixedly connected to the bottom of the moving guide rail; a lifting mechanical arm group, which is placed in the middle of the moving slide. The beneficial effects of the utility model are: through the multi-stage lifting and multi-angle adjustment parts, the manipulator can adapt to work requirements at different heights, and the flexibility of operation is increased. The fixture mounting plate can be driven by an angle adjustment motor to rotate along the Z axis, so that the fixture can make subtle angle adjustments to the object, and multi-angle adjustments to the clamped object can be achieved. Through the cooperation of the No. 3 air cylinder and the fixture mounting plate, the manipulator can flip the object horizontally and vertically to meet complex operating requirements.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a pneumatic manipulator with high flexibility. Background Art

[0002] Manipulators are widely used in various industries, such as automobile manufacturing, metallurgy casting, metal processing, machinery manufacturing, paper processing, printing and packaging, food and beverage, home appliances, electronic communications, power transmission and distribution, military scientific research, aviation and shipbuilding, chemical and petroleum, building materials, ceramic sanitary ware, wood processing, furniture, warehousing and logistics centers, etc. In the modern production process, manipulators are widely used in automatic production lines, which promote the mechanization and automation of production, improve production efficiency, reduce production costs, and protect personal safety.

[0003] Most existing robots simply use linear modules to achieve single lifting and lateral movement. They are unable to achieve multi-level lifting and multi-angle adjustment, cannot adapt to work requirements at different heights, and cannot perform subtle angle adjustments such as flipping and rotating the clamped objects, and have low operational flexibility. Utility Model Content

[0004] The purpose of the utility model is to provide a pneumatic manipulator with high flexibility to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above purpose, the utility model provides the following technical solution: a highly flexible pneumatic manipulator, comprising:

[0006] Linear modules;

[0007] A movable guide rail, which is arranged horizontally and vertically on the movable slide of the linear module;

[0008] A movable slide, the movable slide is slidably placed on the top of the movable guide rail, and a No. 2 cylinder for driving the movable slide to move is fixedly connected to the bottom of the movable guide rail;

[0009] A lifting mechanical arm group, the lifting mechanical arm group is placed in the middle of the movable slide, the lifting mechanical arm group comprises a No. 1 lifting rod slidably arranged in the middle of the movable slide, and a No. 2 lifting rod is slidably arranged inside the No. 1 lifting rod;

[0010] A multi-angle adjustment part is placed at the end of the No. 2 lifting rod. The multi-angle adjustment part includes an angle adjustment motor fixedly connected to the end of the No. 2 lifting rod. A rotating disk is fixedly connected to the output end of the angle adjustment motor. An angle-adjustable clamp mounting plate is provided at the bottom of the rotating disk for realizing the rotation and flipping of the clamped object.

[0011] Preferably, a mounting frame is fixedly connected to the bottom of the linear module, and the movable guide rail is a rectangular frame composed of two linear guide rails and connecting plates fixedly connected to the ends of the two linear guide rails.

[0012] Preferably, a servo motor is fixedly connected to one side of the movable slide, a gear is fixedly connected to the output end of the servo motor, a fixed rack is fixedly connected to one side of the No. 1 lifting rod, and the fixed rack is meshingly connected to the gear.

[0013] Preferably, one side of the No. 1 lifting rod is connected to a transmission belt via two pulleys, and the middle portion of the transmission belt is fixedly connected to the No. 2 lifting rod via a connecting piece.

[0014] Preferably, a No. 1 cylinder is provided on one side of the No. 1 lifting rod, the fixed end of the No. 1 cylinder is fixedly connected to the transmission belt, and the telescopic end of the No. 1 cylinder is fixedly connected to the bottom of the No. 1 lifting rod.

[0015] Preferably, a No. 3 cylinder is fixedly connected to the end of the rotating disk, and the clamp mounting plate is rotatably connected to the end of the No. 3 cylinder through a connecting plate and a rotating shaft, a flip gear is fixedly connected to the outer side of the rotating shaft, and the flip gear is fixedly connected to the clamp mounting plate, and the output end of the No. 3 cylinder is provided with teeth meshing with the flip gear.

[0016] Preferably, a CCD camera is installed on one side of the fixture mounting plate.

[0017] Compared with the prior art, the beneficial effects of the utility model are as follows: through the multi-level lifting and multi-angle adjustment parts, the manipulator can adapt to the working requirements of different heights, increasing the flexibility of operation; the fixture mounting plate can be rotated along the Z-axis through the drive of the angle adjustment motor, so that the fixture can make subtle angle adjustments to the object, realizing multi-angle adjustment of the clamped object; through the cooperation of the No. 3 cylinder and the fixture mounting plate, the manipulator can flip the object horizontally and vertically to meet complex operating requirements, thereby easily adapting to changing working environments and requirements, and handling tasks at different angles and heights; due to the hierarchical design of the structure, more functional modules can be adjusted or added according to specific needs, such as adding more sensors or control systems, to improve the intelligence level of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the position structure of the gear and the fixed rack of the utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the No. 2 cylinder of the utility model;

[0021] Figure 4 This is a structural schematic diagram of the angle adjustment motor of the utility model;

[0022] Figure 5 This is a structural schematic diagram of the position of the No. 3 cylinder of the utility model.

[0023] In the figure: 1. Mounting frame; 2. Linear module; 3. Moving guide rail; 4. Moving slide; 5. Lifting rod No. 1; 6. Lifting rod No. 2; 7. Fixed rack; 8. Gear; 9. Servo motor; 10. Cylinder No. 1; 11. Transmission belt; 12. Cylinder No. 2; 13. Angle adjustment motor; 14. Rotating disk; 15. Cylinder No. 3; 16. Fixture mounting plate; 17. CCD camera; 18. Flip gear. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0025] See also Figure 1 , 2 , 3, 4, and 5, the utility model provides a technical solution: a highly flexible pneumatic manipulator, comprising: a linear module 2; a movable guide rail 3 horizontally and vertically fixed to a movable slide of the linear module 2; a movable slide 4 is slidably placed on the top of the movable guide rail 3, a No. 2 cylinder 12 for driving the movable slide 4 to move is fixed to the bottom of the movable guide rail 3, and the telescopic end of the No. 2 cylinder 12 is fixed to the movable slide 4; a lifting mechanical arm group is placed in the middle of the movable slide 4, and the lifting mechanical arm group includes a movable arm 4 that is arranged on the movable slide 4 and slides up and down through a linear guide rail. There is a lifting rod No. 1 5 in the middle, and a lifting rod No. 2 6 is slidably arranged on the inner side of the lifting rod No. 1 5, so as to realize multi-level adjustment; the multi-angle adjustment part is placed at the end of the lifting rod No. 2 6, and the multi-angle adjustment part includes an angle adjustment motor 13 fixedly connected to the end of the lifting rod No. 2 6, and a rotating disk 14 is fixedly connected to the output end of the angle adjustment motor 13, and a clamp mounting plate 16 with an angle that can be adjusted vertically and horizontally is provided at the bottom of the rotating disk 14, and the angle adjustment motor 13 can drive the clamp mounting plate 16 to rotate along the Z axis, so as to realize the rotation and flipping of the clamped object.

[0026] It should be noted that the linear module 2 of the utility model provides translational movement in the Y-axis direction, supports the horizontal movement of the entire manipulator in the Y-axis direction, and cooperates with the movable guide rail 3 and the movable slide 4. The movable slide 4 slides along the movable guide rail 3 under the push of the No. 2 cylinder 12 at the bottom of the movable guide rail 3, thereby realizing fine adjustment and positioning. The servo motor 9 drives the gear 8 to cooperate with the fixed rack 7 to realize the lifting and lowering of the No. 1 lifting rod 5. In cooperation with the No. 1 cylinder 10 and the transmission belt 11, the No. 2 lifting rod 6 is driven to lift and lower under the reaction of the force. The manipulator realizes multi-level vertical lifting adjustment, which can adapt to the work requirements of different heights and increase the flexibility of operation; the angle adjustment motor 13 and the rotating disk 14 work together, and the fixture mounting plate 16 can be driven by the angle adjustment motor 13 to rotate along the Z axis, so that the fixture can make subtle angle adjustments to the object, and realize multi-angle adjustment of the clamped object. Through the cooperation of the No. 3 cylinder 15 and the fixture mounting plate 16, the manipulator can flip the object horizontally and vertically to meet complex operation requirements.

[0027] See also Figure 1 , 3 As shown, a mounting frame 1 is fixedly connected to the bottom of the linear module 2, and the movable guide rail 3 is a rectangular frame composed of two linear guide rails and connecting plates fixedly connected to the ends of the two linear guide rails.

[0028] It should be noted that the mounting frame 1 of the utility model is the supporting base of the entire manipulator, and the linear module 2 includes a bracket with a guide rail installed, a mobile slide slidingly set on the guide rail, a screw system for driving the mobile slide to move, and a servo motor for driving the screw to rotate. The screw system is composed of a screw and a nut, wherein the nut is fixedly connected to the mobile slide, and the spiral motion of the screw and the nut can convert the rotational motion into linear motion, so that the servo motor drives the screw to rotate, and the screw drives the mobile slide to move on the guide rail. The mobile slide drives the mobile guide rail 3 to move along the Y axis, and the mobile slide 4 above the mobile guide rail 3 can move along the X axis on the mobile guide rail 3.

[0029] See also Figure 2 As shown, a servo motor 9 is fixedly connected to one side of the movable slide 4, a gear 8 is fixedly connected to the output end of the servo motor 9, a fixed rack 7 is fixedly connected to one side of the No. 1 lifting rod 5, and the fixed rack 7 is meshingly connected to the gear 8.

[0030] It should be noted that the servo motor 9 of the utility model is fixedly connected to one side of the mobile slide 4, the servo motor 9 drives the gear 8 to rotate, the fixed rack 7 is fixedly connected to the No. 1 lifting rod 5, and under the reaction of the force, the gear 8 drives the fixed rack 7 to move up and down, and the fixed rack 7 drives the No. 1 lifting rod 5 to move up and down, thereby realizing the first-level height adjustment of the fixture mounting plate 16.

[0031] See also Figure 2, 4 As shown, one side of the No. 1 lifting rod 5 is connected to a transmission belt 11 through two pulleys, and the middle part of the transmission belt 11 is fixedly connected to the No. 2 lifting rod 6 through a connecting piece. One side of the No. 1 lifting rod 5 is provided with a No. 1 cylinder 10, the fixed end of the No. 1 cylinder 10 is fixedly connected to the transmission belt 11, and the telescopic end of the No. 1 cylinder 10 is fixedly connected to the bottom of the No. 1 lifting rod 5.

[0032] It should be noted that the transmission belt 11 of the utility model is vertically rotatably installed on one side of the No. 1 lifting rod 5 through two pulleys. One side of the transmission belt 11 is fixedly connected to the No. 2 lifting rod 6 through a connecting plate, and the other side of the transmission belt 11 is fixedly connected to the fixed end of the No. 1 cylinder 10. During the extension and retraction process of the No. 1 cylinder 10, the fixed end of the No. 1 cylinder 10 can move up and down under the reaction of the force. The No. 1 cylinder 10 drives one side of the transmission belt 11 to move up and down, and the other side of the transmission belt 11 drives the No. 2 lifting rod 6 to move up and down, thereby realizing the secondary height adjustment of the clamp mounting plate 16.

[0033] See also Figure 5 As shown, the end of the rotating disk 14 is fixedly connected to the No. 3 cylinder 15, and the clamp mounting plate 16 is rotatably connected to the end of the No. 3 cylinder 15 through a connecting plate and a rotating shaft. A flip gear 18 is fixedly connected to the outer side of the rotating shaft, and the flip gear 18 is fixedly connected to the clamp mounting plate 16. The output end of the No. 3 cylinder 15 is provided with teeth meshing with the flip gear 18.

[0034] It should be noted that the angle adjustment motor 13 of the utility model drives the rotating disk 14 to rotate, the rotating disk 14 drives the No. 3 cylinder 15 to rotate, and the No. 3 cylinder 15 can drive the fixture mounting plate 16 to rotate along the Z-axis direction. At the same time, the output end of the No. 3 cylinder 15 is telescopically engaged with the flip gear 18, thereby driving the flip gear 18 to rotate, and the flip gear 18 drives the fixture mounting plate 16 to rotate around the rotating axis, so that the fixture mounting plate 16 can be adjusted in vertical angle around the rotating axis, thereby realizing multi-axis movement.

[0035] See also Figure 1 As shown, a CCD camera 17 is installed on one side of the fixture mounting plate 16 .

[0036] It should be noted that the CCD camera of the utility model is fixed on one side of the fixture mounting plate 16. The camera can directly monitor the fixture and the object it operates. The image can be transmitted to the control system in real time for analyzing the position, direction and state of the object. Based on the image data, the control system can automatically adjust the position of the manipulator, the height of the lifting rod, the angle of the rotating disk, etc. to ensure that the fixture accurately operates the object. For example, if the object does not appear in the expected position, the system can adjust the manipulator to accurately align and operate the object, so that complex tasks can be performed more accurately. Image feedback helps to adjust the details and ensure the accuracy of the operation.

[0037] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one of such features.

[0039] In the present utility model, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.

[0040] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A highly flexible pneumatic manipulator, characterized in that: include: Linear module (2); A movable guide rail (3), the movable guide rail (3) is horizontally and vertically arranged on the movable slide of the linear module (2); A movable slide (4), the movable slide (4) is slidably placed on the top of the movable guide rail (3), and a second cylinder (12) for driving the movable slide (4) to move is fixedly connected to the bottom of the movable guide rail (3); A lifting mechanical arm group, the lifting mechanical arm group is placed in the middle of the movable slide (4), the lifting mechanical arm group comprises a first lifting rod (5) slidably arranged in the middle of the movable slide (4) up and down, and a second lifting rod (6) is slidably arranged inside the first lifting rod (5); A multi-angle adjustment part is arranged at the end of the second lifting rod (6), and the multi-angle adjustment part comprises an angle adjustment motor (13) fixedly connected to the end of the second lifting rod (6), the output end of the angle adjustment motor (13) is fixedly connected to a rotating disk (14), and the bottom of the rotating disk (14) is provided with an angle-adjustable clamp mounting plate (16) for realizing the rotation and flipping of the clamped object.

2. A highly flexible pneumatic manipulator according to claim 1, characterized in that: The bottom of the linear module (2) is fixedly connected to a mounting frame (1), and the movable guide rail (3) is a rectangular frame composed of two linear guide rails and connecting plates fixedly connected to the ends of the two linear guide rails.

3. A highly flexible pneumatic manipulator according to claim 1, characterized in that: A servo motor (9) is fixedly connected to one side of the movable slide (4), a gear (8) is fixedly connected to the output end of the servo motor (9), a fixed rack (7) is fixedly connected to one side of the first lifting rod (5), and the fixed rack (7) is meshingly connected to the gear (8).

4. A highly flexible pneumatic manipulator according to claim 3, characterized in that: One side of the first lifting rod (5) is connected to a transmission belt (11) via two pulleys, and the middle portion of the transmission belt (11) is fixedly connected to the second lifting rod (6) via a connecting piece.

5. A highly flexible pneumatic manipulator according to claim 4, characterized in that: A No. 1 cylinder (10) is provided on one side of the No. 1 lifting rod (5); the fixed end of the No. 1 cylinder (10) is fixedly connected to a transmission belt (11); and the telescopic end of the No. 1 cylinder (10) is fixedly connected to the bottom of the No. 1 lifting rod (5).

6. A highly flexible pneumatic manipulator according to claim 1, characterized in that: The end of the rotating disk (14) is fixedly connected to a No. 3 cylinder (15); the clamp mounting plate (16) is rotatably connected to the end of the No. 3 cylinder (15) through a connecting plate and a rotating shaft; a flip gear (18) is fixedly connected to the outer side of the rotating shaft; the flip gear (18) is fixedly connected to the clamp mounting plate (16); and the output end of the No. 3 cylinder (15) is provided with teeth meshing with the flip gear (18).

7. A highly flexible pneumatic manipulator according to claim 6, characterized in that: A CCD camera (17) is installed on one side of the fixture installation plate (16).

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