Self-centering manipulator

Abstract

The utility model relates to the technical field of automation equipment, in particular to a self-centering mechanical arm which comprises an outer shell, a sliding clamping assembly, a push-pull transmission assembly, a first piston and a second piston. The outer shell is provided with a plurality of air holes for air intake or air exhaust; the sliding clamping assembly is connected to one end of the push-pull transmission assembly and comprises a plurality of sliding clamping jaws and a sliding seat, the sliding clamping jaws are movably connected to the sliding seat, and the sliding seat is arranged at the top of the outer shell; the push-pull transmission assembly is used for driving the sliding clamping jaws to move, so that the sliding clamping jaws are synchronously and evenly opened or closed in a petal mode. A partition plate is arranged between the first piston and the second piston, and the first piston, the partition plate and the second piston are sequentially connected to a push-pull transmission assembly. The utility model provides a self-centering manipulator which is good in stability and high in efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a self-centering manipulator. Background Art

[0002] Automation refers to the process in which machinery and equipment, systems or processes, with little or no direct human participation, achieve the expected goals according to human requirements through automatic detection, information processing, analysis and judgment, and manipulation and control. Automation technology is widely used in industries, agriculture, military, scientific research, transportation, commerce, medical treatment, services and households, etc. The adoption of automation technology can not only liberate people from heavy physical labor, part of mental labor and harsh and dangerous working environments, but also expand the functions of human organs, greatly improve labor productivity, and enhance the ability of human beings to understand and transform the world. Therefore, automation is an important condition and remarkable symbol for the modernization of industry, agriculture, national defense and science and technology.

[0003] At present, when processing PCB boards, positioning holes need to be drilled and positioning pins need to be inserted. Most of the existing positioning pin insertion methods are manual insertion, and the efficiency of manual insertion is relatively low. When using manual insertion, it is also possible to hurt the operators and cause unnecessary accidents. Content of the Utility Model

[0004] Based on this, the purpose of the utility model is to provide a self-centering manipulator with good stability and high efficiency.

[0005] The utility model adopts the following technical scheme:

[0006] A self-centering manipulator includes an outer shell, a sliding clamping assembly, a push-pull transmission assembly, a first piston and a second piston; the outer shell is provided with a plurality of air holes for air intake or exhaust; one end of the sliding clamping assembly is connected to the push-pull transmission assembly. The sliding clamping assembly includes a plurality of sliding jaws and a sliding seat. The plurality of sliding jaws are respectively movably connected to the sliding seat, and the sliding seat is arranged on the top of the outer shell; the push-pull transmission assembly is used to drive the plurality of sliding jaws to move, so that the plurality of sliding jaws open or close synchronously and evenly in a petal shape; a partition is arranged between the first piston and the second piston, and the first piston, the partition and the second piston are respectively and sequentially connected to the push-pull transmission assembly.

[0007] For further improvement of the above technical scheme, a working inner cavity is arranged inside the outer shell, and the sliding clamping assembly, the push-pull transmission assembly, the first piston and the second piston are respectively connected to the working inner cavity.

[0008] For further improvement of the above technical scheme, a gland is arranged on the top of the outer shell, and a clamping opening for the tops of the plurality of sliding jaws to pass through is arranged in the center of the gland.

[0009] A further improvement to the above technical solution is that the air holes include a first air hole, a second air hole, and a third air hole; the first air hole communicates with the gap between the upper part of the first piston and the lower part of the sliding seat.

[0010] A further improvement to the above technical solution is that the second air hole communicates with the gap between the lower part of the partition plate and the upper part of the second piston.

[0011] A further improvement to the above technical solution is that the third air hole communicates with the gap between the lower part of the second piston and the bottom of the outer casing.

[0012] A further improvement to the above technical solution is that the number of the sliding jaws is set to three. The sliding jaw includes a clamping part, a joint part, and a sliding part. The clamping part is connected to the top of the joint part; an inclined ejector groove is formed below the inner side of the joint part, and the inclined ejector groove is slidably connected to the top of the push-pull transmission component; the sliding part is movably connected to the sliding seat.

[0013] A further improvement to the above technical solution is that one side of the clamping part is provided with anti-slip lines.

[0014] A further improvement to the above technical solution is that the sliding seat is provided with three sliding grooves, and the sliding grooves are movably connected to the sliding part.

[0015] A further improvement to the above technical solution is that the push-pull transmission component includes a first push rod, a second push rod, and a connecting screw; an inclined ejector convex block is provided at the top of the first push rod, and the inclined ejector convex block is slidably connected to the inclined ejector groove; the second push rod passes through the first piston and is connected to the bottom of the first push rod; the connecting screw sequentially passes through the second piston, the partition plate and is connected to the bottom of the second push rod.

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

[0017] The present utility model is provided with an outer casing, a sliding clamping assembly, a push-pull transmission assembly, a first piston, and a second piston. The overall structure is reasonably designed, with high stability, replacing manual labor and improving efficiency; during operation, air is introduced through the third air hole among several air holes to push the second piston to rise, thereby driving the push-pull transmission assembly to lift the sliding clamping assembly, so that several sliding jaws of the sliding clamping assembly synchronously and evenly open in a petal shape. The multi-petal structure of the sliding clamping assembly can clamp workpieces of different sizes, with a wide range of applications; after clamping an object, air is introduced through the first air hole and the second air hole among several air holes to respectively pull the first piston and the second piston to descend, thereby driving the push-pull transmission assembly to pull down, so that several sliding jaws close to clamp the object. Description of the Drawings

[0018] Figure 1Structural schematic diagram of an embodiment of the self - centering manipulator of the present utility model;

[0019] Figure 2 is Figure 1 Cross - sectional view of the self - centering manipulator;

[0020] Figure 3 Expansion state diagram of the sliding jaw of the self - centering manipulator of the present utility model;

[0021] Figure 4 is Figure 3 Cross - sectional view of the self - centering manipulator;

[0022] Figure 5 is Figure 1 Exploded view of the sliding jaw, sliding seat and gland of the self - centering manipulator;

[0023] Figure 6 is Figure 1 Structural schematic diagram of the sliding jaw of the self - centering manipulator;

[0024] Figure 7 Structural schematic diagram of another embodiment of the self - centering manipulator of the present utility model;

[0025] Figure 8 is Figure 7 Cross - sectional view of the self - centering manipulator.

[0026] The reference numerals in the figure are:

[0027] 10. Outer housing; 11. Air hole; 12. First air hole; 13. Second air hole; 14. Third air hole; 15. Partition; 16. Working inner cavity; 17. Fourth air hole; 20. Sliding clamping assembly; 30. Push - pull transmission assembly; 31. First push rod; 32. Second push rod; 33. Connecting screw; 34. Oblique top convex block; 35. Slide post; 40. First piston; 50. Second piston; 60. Sliding jaw; 61. Clamping part; 62. Joint part; 63. Sliding part; 64. Anti - slip pattern; 65. Oblique top groove; 70. Sliding seat; 71. Slide groove; 80. Gland; 81. Clamping opening. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0029] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by terms such as "vertical direction", "upper", "lower", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. In addition, "first", "second", "third", "fourth" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0030] In the description of the present utility model, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "coupled" 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, an electrical connection, a direct connection, or a connection through an intermediate medium. It can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0031] As Figures 1 to 6 shown, an embodiment of the present utility model relates to a self-centering manipulator, including a housing 10, a sliding clamping assembly 20, a push-pull transmission assembly 30, a first piston 40, and a second piston 50; the housing 10 is provided with a plurality of air holes 11 for air intake or exhaust; the sliding clamping assembly 20 is connected to one end of the push-pull transmission assembly 30. The sliding clamping assembly 20 includes a plurality of sliding jaws 60 and a sliding seat 70. The plurality of sliding jaws 60 are respectively movably connected to the sliding seat 70, and the sliding seat 70 is arranged on the top of the housing 10; the push-pull transmission assembly 30 is used to drive the plurality of sliding jaws 60 to move, so that the plurality of sliding jaws 60 are synchronously and evenly opened or closed in a petal shape; a partition 15 is provided between the first piston 40 and the second piston 50, and the first piston 40, the partition 15, and the second piston 50 are respectively and sequentially connected to the push-pull transmission assembly 30.

[0032] Furthermore, as Figure 2 shown, a working cavity 16 is provided inside the housing 10, and the sliding clamping assembly 20, the push-pull transmission assembly 30, the first piston 40, and the second piston 50 are respectively connected to the working cavity 16. Specifically, the first piston 40 and the second piston 50 move in the working cavity 16, driving the push-pull transmission assembly 30 to move up and down, and then driving the plurality of sliding jaws 60 of the sliding clamping assembly 20 to open or close in a petal shape to achieve clamping.

[0033] Furthermore, as Figure 5As shown, a gland 80 is provided at the top of the outer housing 10, and a clamping opening 81 through which the tops of a number of sliding jaws 60 pass is provided at the center of the gland 80. Specifically, the clamping opening 81 is provided so that the sliding jaws 60 can extend outside the gland 80 for activities such as clamping.

[0034] Further, as Figure 2 shown, the air holes 11 include a first air hole 12, a second air hole 13, and a third air hole 14; the first air hole 12 communicates with the gap between the upper part of the first piston 40 and the lower part of the sliding seat 70; the second air hole 13 communicates with the gap between the lower part of the partition plate 15 and the upper part of the second piston 50; the third air hole 14 communicates with the gap between the lower part of the second piston 50 and the bottom of the outer housing 10. Specifically, during operation, air is introduced through the third air hole 14 among a number of air holes 11 to push the second piston 50 to rise, thereby driving the push-pull transmission assembly 30 to lift the sliding clamping assembly 20, so that a number of sliding jaws 60 of the sliding clamping assembly 20 are synchronously and evenly opened in a petal shape; after clamping an object, air is introduced through the first air hole 12 and the second air hole 13 among a number of air holes 11 to respectively pull the first piston 40 and the second piston 50 to descend, thereby driving the push-pull transmission assembly 30 to pull down, so that a number of sliding jaws 60 close to clamp the object, effectively improving the clamping efficiency.

[0035] As Figure 7 and Figure 8 shown, in another embodiment, the difference from the above embodiment is that the air hole 11a further includes a fourth air hole 17, and the fourth air hole 17 communicates with the gap between the lower part of the first piston 40 and the upper part of the partition plate 15. During operation, air is introduced or exhausted through the fourth air hole 17, and the intake or exhaust of the first air hole 12 is controlled to realize the lifting of the first piston 40.

[0036] Further, as Figure 6 shown, the number of the sliding jaws 60 is set to three. The sliding jaw 60 includes a clamping part 61, a joint part 62, and a sliding part 63. The clamping part 61 is connected to the top of the joint part 62, and an anti-slip pattern 64 is provided on one side of the clamping part 61; an inclined top groove 65 is provided below the inner side of the joint part 62, and the inclined top groove 65 is slidably connected to the top of the push-pull transmission assembly 30; the sliding part 63 is movably connected to the sliding seat 70. Specifically, the multi-petal structure formed by the sliding jaws 60 can clamp workpieces of different sizes, with a wide application range; the clamping part 61 is used for clamping objects, and the anti-slip pattern 64 is provided to improve the clamping stability; the joint part 62 with the inclined top groove 65 is provided to facilitate the movement of the push-pull transmission assembly 30 and the lifting of the sliding jaw 60, with strong practicability; the sliding part 63 is provided to move in the sliding seat 70 to provide a moving space for the sliding jaw 60 to open.

[0037] Further, asFigure 5 As shown, the sliding seat 70 is provided with three sliding grooves 71, and the sliding grooves 71 are movably connected to the sliding part 63. Specifically, the sliding part 63 of the sliding jaw 60 moves in the sliding groove 71 of the sliding seat 70 to provide a moving space for the sliding jaw 60, which has strong practicability.

[0038] Furthermore, as Figure 2 、 Figure 4 and Figure 5 shown, the push-pull transmission assembly 30 includes a first push rod 31, a second push rod 32, and a connecting screw 33; a slant top convex block 34 is provided at the top of the first push rod 31, and the slant top convex block 34 is movably connected to the slant top groove 65; the second push rod 32 passes through the first piston 40 and is connected to the bottom of the first push rod 31; the connecting screw 33 sequentially passes through the second piston 50 and the partition 15 and is connected to the bottom of the second push rod 32. Specifically, three sliding columns 35 are extended outside the slant top convex block 34, and the three sliding columns 35 move in the three slant top grooves 65 respectively; the second piston 50 moves to drive the second push rod 32 to drive the first piston 40 to move, and at the same time drives the first push rod 31 to rise or fall, so that the slant top convex block 34 jacks up the sliding jaw 60 to make it open or close in a petal shape, realizing clamping, which has strong practicability.

[0039] The utility model is provided with a housing 10, a sliding clamping assembly 20, a push-pull transmission assembly 30, a first piston 40, and a second piston 50. The overall structure is reasonably designed, with high stability, replacing manual labor and improving efficiency; during work, air is introduced through the third air hole 14 in the plurality of air holes 11 to push the second piston 50 to rise, and then drive the push-pull transmission assembly 30 to jack up the sliding clamping assembly 20, so that the plurality of sliding jaws 60 of the sliding clamping assembly 20 synchronously and evenly open in a petal shape. The multi-petal structure of the sliding clamping assembly 20 can clamp workpieces of different sizes, with a wide range of applications; after clamping an object, air is introduced through the first air hole 12 and the second air hole 13 in the plurality of air holes 11 to respectively pull the first piston 40 and the second piston 50 to descend, and then drive the push-pull transmission assembly 30 to pull down, so that the plurality of sliding jaws 60 close to clamp the object.

[0040] The above only expresses the preferred technical solutions of the utility model, and its description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the utility model, several modifications and improvements can still be made, and the utility model also intends to include these modifications and deformations.

Claims

1. A self-centering manipulator, characterized in that: It includes an outer shell, a sliding clamping assembly, a push-pull transmission assembly, a first piston, and a second piston; the outer shell is provided with a plurality of air holes for air intake or exhaust; the sliding clamping assembly is connected to one end of the push-pull transmission assembly, and the sliding clamping assembly includes a plurality of sliding jaws and a sliding seat, the plurality of sliding jaws are respectively movably connected to the sliding seats, and the sliding seats are arranged on the top of the outer shell; the push-pull transmission assembly is used to drive the plurality of sliding jaws to move, so that the plurality of sliding jaws are synchronously and evenly opened or closed in a petal-like manner; a partition is arranged between the first piston and the second piston, and the first piston, the partition, and the second piston are respectively connected to the push-pull transmission assembly in sequence.

2. The self-centering manipulator according to claim 1, characterized in that: A working inner cavity is provided inside the outer shell, and the sliding clamping assembly, the push-pull transmission assembly, the first piston and the second piston are respectively connected to the working inner cavity.

3. The self-centering manipulator according to claim 1, characterized in that: A pressure cover is arranged on the top of the outer shell, and a clamping opening for the tops of a plurality of sliding clamping claws to pass through is arranged in the center of the pressure cover.

4. The self-centering manipulator according to claim 1, characterized in that: The air holes include a first air hole, a second air hole, and a third air hole; the first air hole is connected to the gap between the upper part of the first piston and the lower part of the sliding seat.

5. The self-centering manipulator according to claim 4, characterized in that: The second air hole is communicated with the gap between the lower portion of the partition plate and the upper portion of the second piston.

6. The self-centering manipulator according to claim 4, characterized in that: The third air hole is communicated with the gap between the lower portion of the second piston and the bottom of the outer shell.

7. The self-centering manipulator according to claim 1, characterized in that: The number of the sliding clamps is set to three, and the sliding clamps include a clamping portion, a coupling portion and a sliding portion, wherein the clamping portion is connected to the top of the coupling portion; an inclined top groove is provided on the inner lower side of the coupling portion, and the inclined top groove is slidably connected to the top of the push-pull transmission assembly; and the sliding portion is movably connected to the sliding seat.

8. The self-centering manipulator according to claim 7, characterized in that: One side of the clamping portion is provided with anti-slip grooves.

9. The self-centering robot according to claim 1, characterized in that: The sliding seat is provided with three sliding grooves, and the sliding grooves are movably connected with the sliding part.

10. The self-centering manipulator according to claim 1, characterized in that: The push-pull transmission assembly includes a first push-pull rod, a second push-pull rod, and a connecting screw; a slanted top protrusion is provided on the top of the first push-pull rod, and the slanted top protrusion is movably connected to the slanted top groove; the second push-pull rod passes through the first piston and is connected to the bottom of the first push-pull rod; the connecting screw passes through the second piston and the partition in sequence and is connected to the bottom of the second push-pull rod.

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