Grabbing manipulator for thin-wall annular workpiece

Abstract

The utility model relates to the technical field of grabbing manipulators, in particular to a grabbing manipulator for thin-wall annular workpieces, which comprises a mechanical arm, a U-shaped fixing frame is mounted at one end of the mechanical arm through a mounting seat, a connecting rod is fixedly mounted on the lower surface of the fixing frame, and an I-shaped disc is fixedly mounted at one end of the connecting rod. The I-shaped disc is sleeved with an annular air bag, a cylindrical groove is formed in the upper end of the connecting rod, the cylindrical groove communicates with the interior of the annular air bag through a connecting pipe, a push block is installed in the cylindrical groove in a sealed and sliding mode, and a driving assembly used for driving the push block to move up and down is arranged on the mounting base. Through mutual cooperation of the driving assembly, the pushing block, the connecting rod and the connecting pipe, the annular air bag is expanded towards the periphery, annular workpieces are grabbed, when the workpieces are grabbed through the annular air bag, the workpieces can be effectively prevented from being deformed and damaged in the grabbing process, and the product quality and the production efficiency are effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of grasping manipulators, in particular to a grasping manipulator for thin-walled ring-shaped workpieces. Background Art

[0002] Mechanical manufacturing plays an important role in the process of social and economic development. With the rapid development of society, the mechanical manufacturing architecture system has also changed accordingly. Mechanical manufacturing technology is gradually developing towards integration and intelligence. Intelligent mechanical grasping devices, usually called robotic arms, are commonly used in intelligent mechanical manufacturing systems. In industrial production, grasping manipulators are often needed to grasp thin-walled ring-shaped workpieces.

[0003] In the prior art, most grasping manipulators use a claw structure to support the inner ring of the ring-shaped workpiece for grasping. However, due to the thin wall of the thin-walled ring-shaped workpiece, the traditional grasping method is likely to cause the workpiece to deform and be damaged, affecting product quality and production efficiency. Summary of the Utility Model

[0004] The purpose of the utility model is to solve the following disadvantages existing in the prior art: the traditional grasping method is likely to cause the workpiece to deform and be damaged, affecting product quality and production efficiency, and to provide a grasping manipulator for thin-walled ring-shaped workpieces.

[0005] To achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A grasping manipulator for thin-walled ring-shaped workpieces includes a robotic arm. One end of the robotic arm is fixedly installed with a mounting seat. A U-shaped fixing frame is fixedly installed on the mounting seat. A connecting rod is fixedly installed on the lower surface of the fixing frame. One end of the connecting rod away from the fixing frame is fixedly installed with an I-shaped disc.

[0007] An annular airbag is sleeved on the I-shaped disc. A cylindrical groove is opened at the upper end of the connecting rod. The cylindrical groove is communicated with the inside of the annular airbag through a connecting pipe. A push block is hermetically and slidably installed in the cylindrical groove. A driving component for driving the push block to move up and down is arranged on the mounting seat.

[0008] Preferably, the driving component includes an electric control cylinder fixedly installed on the mounting seat. One end of the output shaft of the electric control cylinder extends into the cylindrical groove and is fixedly connected to the upper surface of the push block.

[0009] Preferably, suction holes are symmetrically opened on the side surface of the annular airbag. A suction pipe is horizontally fixedly installed in each of the two suction holes. A moving rod is horizontally slidably installed in the suction pipe through an elastic component. One end of the moving rod is fixedly installed with a sealing block. The sealing block is hermetically and slidably installed in the suction pipe. A transmission component for driving the moving rod to move is arranged inside the annular airbag.

[0010] Preferably, the elastic component includes a bracket fixedly installed in the straw and a first telescopic spring sleeved on the moving rod, the bracket is provided with a moving hole, the moving rod is slidably inserted in the moving hole, and the two ends of the first telescopic spring are respectively fixedly connected to the bracket and the sealing block.

[0011] Preferably, the transmission assembly includes a winding shaft rotatably mounted on an I-shaped disc, two pull ropes wound on the I-shaped disc, two L-shaped rods horizontally slidably mounted on the annular airbag through mounting blocks, and a rotating component for driving the winding shaft to rotate, wherein one end of the two pull ropes away from the winding shaft is respectively fixedly connected to the two L-shaped rods, and one end of the L-shaped rod is fixedly connected to one end of the moving rod.

[0012] Preferably, a threaded hole is provided on the center axis of the winding shaft, a through hole is provided on the lower surface of the I-shaped disc, the rotating component includes a vertical rod vertically slidably installed in the through hole, a pad fixedly installed at the lower end of the vertical rod and a second telescopic spring sleeved on the vertical rod, the two ends of the second telescopic spring are respectively fixedly connected to the pad and the I-shaped disc, a thread matching the threaded hole is provided on the side of the vertical rod, and one end of the vertical rod is threadedly inserted in the threaded hole.

[0013] Preferably, a sealing ring is fixedly mounted on one end of the straw, and one end of the sealing ring passes through the suction hole.

[0014] Preferably, a plurality of annular anti-slip grooves are provided on the side surface of the annular airbag, and the plurality of anti-slip grooves are symmetrically arranged on the annular airbag.

[0015] In the utility model, the beneficial effects are:

[0016] 1. When grabbing annular workpieces, the I-shaped disc and the annular airbag are inserted into the inner circle of the workpiece through the mechanical arm, and then the air in the cylindrical groove is squeezed into the annular airbag through the cooperation of the driving assembly, the push block, the connecting rod and the connecting pipe, so that the annular airbag expands to the surroundings and contacts with the inner circle of the annular workpiece to realize the grabbing of the annular workpiece. When the workpiece is grabbed by the annular airbag, the deformation and damage of the workpiece during the grabbing process can be effectively prevented, and the product quality and production efficiency can be effectively improved;

[0017] 2. When grabbing the annular workpiece, the transmission assembly, the suction tube, the moving rod and the sealing block cooperate with each other to generate suction on the annular workpiece at the suction hole, so that the annular workpiece is stably adsorbed on the annular airbag, further improving the stability of grabbing the annular workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a three-dimensional structural schematic diagram of a gripping manipulator for a thin-walled annular workpiece proposed by the utility model;

[0019] Figure 2 Schematic three-dimensional structure diagram of a mounting base, a fixing clip, a connecting rod, an I-shaped disc and an annular airbag;

[0020] Figure 3 Schematic three-dimensional sectional structure diagram of a mounting base, a fixing clip, a connecting rod, an I-shaped disc and an annular airbag;

[0021] Figure 4 Schematic three-dimensional structure diagram of an I-shaped disc and an annular airbag;

[0022] Figure 5 Schematic three-dimensional sectional structure diagram of a straw, an elastic component, a moving rod and a sealing block;

[0023] Figure 6 is Figure 3 Enlarged view of the structure at position A in

[0024] Figure 7 is Figure 3 Enlarged view of the structure at position B in

[0025] In the figure: 1 robotic arm, 2 mounting base, 3 fixing bracket, 4 connecting rod, 5 I-shaped disc, 6 annular airbag, 7 connecting pipe, 8 push block, 9 electric control cylinder, 10 straw, 11 moving rod, 12 sealing block, 13 bracket, 14 first telescopic spring, 15 winding shaft, 16 pulling rope, 17 L-shaped rod, 18 vertical rod, 19 backing plate, 20 second telescopic spring, 21 sealing ring, 22 anti-slip pattern. Specific implementation manner

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0027] Referring to Figures 1-7 , a grasping robotic arm for a thin-walled ring-shaped workpiece, comprising a robotic arm 1, one end of the robotic arm 1 is fixedly installed with a mounting base 2, a U-shaped fixing bracket 3 is fixedly installed on the mounting base 2, a connecting rod 4 is fixedly installed on the lower surface of the fixing bracket 3, one end of the connecting rod 4 away from the fixing bracket 3 is fixedly installed with an I-shaped disc 5, an annular airbag 6 is sleeved on the I-shaped disc 5, a cylindrical groove is opened at the upper end of the connecting rod 4, the cylindrical groove is communicated with the inside of the annular airbag 6 through a connecting pipe 7, a push block 8 is hermetically and slidably installed in the cylindrical groove, and a driving component for driving the push block 8 to move up and down is provided on the mounting base 2. The driving component includes an electric control cylinder 9 fixedly installed on the mounting base 2, and one end of the output shaft of the electric control cylinder 9 extends into the cylindrical groove and is fixedly connected to the upper surface of the push block 8.

[0028] The annular airbag 6 is installed on the I-shaped disc 5. Both ends of the upper end of the I-shaped disc 5 can restrict the annular airbag 6. When the annular airbag 6 expands, the I-shaped disc 5 can restrict the annular airbag 6 from expanding upward and downward, and it can only expand around. When grasping the annular workpiece, the I-shaped disc 5 and the annular airbag 6 are inserted into the inner ring of the annular workpiece through the robotic arm 1. Then, the push block 8 is driven by the electric control cylinder 9 in the drive assembly to move vertically downward in the cylindrical groove. The push block 8 is hermetically and slidably installed in the cylindrical groove. Thus, the push block 8 will send the gas in the cylindrical groove into the connecting pipe 7, and then squeeze it into the annular airbag 6 through the connecting pipe 7, causing the annular airbag 6 to expand and expand around, contacting the inner ring of the annular workpiece, realizing the grasping of the annular workpiece. When grasping the workpiece through the annular airbag 6, it can effectively prevent the workpiece from deforming and being damaged during the grasping process, effectively improving the product quality and production efficiency.

[0029] Suction holes are symmetrically arranged on the side surface of the annular airbag 6. A suction pipe 10 is horizontally and fixedly installed in each of the two suction holes. A moving rod 11 is horizontally and slidably installed in the suction pipe 10 through an elastic component. A sealing block 12 is fixedly installed at one end of the moving rod 11. The sealing block 12 is hermetically and slidably installed in the suction pipe 10. A transmission component for driving the moving rod 11 to move is arranged in the annular airbag 6. The elastic component includes a bracket 13 fixedly installed in the suction pipe 10 and a first telescopic spring 14 sleeved on the moving rod 11. A moving hole is formed in the bracket 13, and the moving rod 11 is slidably inserted into the moving hole. Two ends of the first telescopic spring 14 are respectively fixedly connected with the bracket 13 and the sealing block 12.

[0030] The suction holes are arranged on the side surface of the annular airbag 6. When the annular airbag 6 grasps the annular workpiece, the suction holes will contact the inner ring of the annular workpiece. The moving rod 11 is installed in the suction pipe 10 through the bracket 13 and the first telescopic spring 14. When the moving rod 11 drives the sealing block 12 to move in the direction of the first telescopic spring 14 through the transmission component, the space between the sealing block 12, the suction pipe 10 and the annular workpiece will become larger, and the internal pressure will decrease. Under the pressure, the suction holes will generate a suction force on the annular workpiece, stably adsorbing the annular workpiece on the annular airbag 6, and further improving the stability of grasping the annular workpiece.

[0031] The transmission assembly includes a winding shaft 15 rotatably mounted on the I-shaped disc 5, two pull ropes 16 wound on the I-shaped disc 5, two L-shaped rods 17 horizontally slidably mounted on the annular airbag 6 through mounting blocks, and a rotating component for driving the winding shaft 15 to rotate. The ends of the two pull ropes 16 away from the winding shaft 15 are fixedly connected to the two L-shaped rods 17 respectively, and one end of the L-shaped rod 17 is fixedly connected to one end of the moving rod 11. A threaded hole is provided on the central axis of the winding shaft 15, and a through hole is provided on the lower surface of the I-shaped disc 5. The rotating component includes a vertical rod 18 vertically slidably mounted in the through hole, a pad 19 fixedly mounted on the lower end of the vertical rod 18, and a second telescopic spring 20 sleeved on the vertical rod 18. The two ends of the second telescopic spring 20 are fixedly connected to the pad 19 and the I-shaped disc 5 respectively. The side of the vertical rod 18 is provided with a thread matching the threaded hole, and one end of the vertical rod 18 is threadedly inserted in the threaded hole.

[0032] The elastic force of the second telescopic spring 20 is greater than the elastic force of the first telescopic spring 14. In the initial state, the first telescopic spring 14 is in a compressed state, and the pull rope 16 is wound on the winding shaft 15. When grabbing the annular workpiece, the robot arm 1 first drives the I-shaped disk 5 to contact the operating table where the annular workpiece is placed. At this time, the pad 19 will contact the operating table first and drive the vertical rod 18 to move into the I-shaped disk 5. The second telescopic spring 20 is compressed. When the vertical rod 18 moves vertically upward, it will drive the winding shaft 15 to rotate through the thread and the threaded hole, and release the two pull ropes 16 from the winding shaft 15. At the same time, under the elastic force of the first telescopic spring 14, the sealing block 12 moves away from the bracket 13.

[0033] When the annular airbag 6 expands to grab the annular workpiece, the I-shaped disc 5 is lifted, driving the pad 19 to separate from the operating table. At this time, under the action of the elastic force of the second telescopic spring 20, the vertical rod 18 moves vertically downward, driving the winding shaft 15 to rotate, and the pull rope 16 is wound around the winding shaft 15. The pull rope 16 will drive the moving rod 11 to move in the straw 10 through the L-shaped rod 17, thereby driving the sealing block 12 to move in the straw 10 toward the direction of the first telescopic spring 14, and the annular workpiece is adsorbed on the annular airbag 6 through the suction hole.

[0034] A sealing ring 21 is fixedly installed at one end of the suction tube 10, and one end of the sealing ring 21 passes through the suction hole. When the annular airbag 6 contacts the annular workpiece, one end of the sealing ring 21 contacts the inner circle of the annular workpiece. When the suction hole adsorbs the annular workpiece, the sealing ring 21 can improve the sealing between them.

[0035] A plurality of annular anti-skid patterns 22 are provided on the side of the annular airbag 6, and the plurality of anti-skid patterns 22 are symmetrically arranged on the annular airbag 6. When the annular airbag 6 contacts the inner circle of the annular workpiece, the anti-skid patterns 22 can increase the friction between the annular airbag 6 and the annular workpiece, thereby preventing the annular workpiece from falling during the grasping process.

[0036] In the present utility model, when grasping an annular workpiece, the I-shaped disc 5 and the annular airbag 6 are inserted into the inner ring of the annular workpiece through the robotic arm 1. The driving assembly drives the push block 8 to move vertically downward in the cylindrical groove. The push block 8 is hermetically and slidably installed in the cylindrical groove. Thus, the gas in the cylindrical groove will enter the connecting pipe 7 through the push block 8, and then be squeezed into the annular airbag 6 through the connecting pipe 7, causing the annular airbag 6 to expand and expand around, contacting the inner ring of the annular workpiece, and realizing the grasping of the annular workpiece. When grasping the workpiece through the annular airbag 6, the deformation and damage of the workpiece during the grasping process can be effectively prevented, and the product quality and production efficiency are effectively improved.

[0037] The above is only a preferred specific embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution and the inventive concept of the present utility model, making equivalent substitutions or changes, should be covered by the protection scope of the present utility model.

Claims

1. A grasping manipulator for a thin-walled annular workpiece, comprising a robotic arm (1), characterized in that, One end of the robotic arm (1) is fixedly installed with a mounting base (2). A U-shaped fixing frame (3) is fixedly installed on the mounting base (2). A connecting rod (4) is fixedly installed on the lower surface of the fixing frame (3). One end of the connecting rod (4) far from the fixing frame (3) is fixedly installed with an I-shaped disc (5). An annular airbag (6) is sleeved on the I-shaped disc (5). A cylindrical groove is opened at the upper end of the connecting rod (4). The cylindrical groove is communicated with the inside of the annular airbag (6) through a connecting pipe (7). A push block (8) is hermetically and slidably installed in the cylindrical groove. A driving assembly for driving the push block (8) to move up and down is arranged on the mounting base (2).

2. The grasping manipulator for a thin-walled ring workpiece according to claim 1, characterized in that, The driving assembly includes an electric control cylinder (9) fixedly installed on the mounting base (2). One end of the output shaft of the electric control cylinder (9) extends into the cylindrical groove and is fixedly connected with the upper surface of the push block (8).

3. The grasping manipulator for a thin-walled annular workpiece according to claim 1, characterized in that, Suction holes are symmetrically opened on the side surface of the annular airbag (6). A suction pipe (10) is horizontally and fixedly installed in each of the two suction holes. A moving rod (11) is horizontally and slidably installed in the suction pipe (10) through an elastic component. One end of the moving rod (11) is fixedly installed with a sealing block (12). The sealing block (12) is hermetically and slidably installed in the suction pipe (10). A transmission component for driving the moving rod (11) to move is arranged inside the annular airbag (6).

4. The grasping manipulator for a thin-walled annular workpiece according to claim 3, characterized in that, The elastic component includes a bracket (13) fixedly installed in the suction pipe (10) and a first telescopic spring (14) sleeved on the moving rod (11). A moving hole is opened on the bracket (13). The moving rod (11) is slidably inserted into the moving hole. Two ends of the first telescopic spring (14) are respectively fixedly connected with the bracket (13) and the sealing block (12).

5. The grasping manipulator for a thin-walled ring workpiece according to claim 3, characterized in that, The transmission component includes a winding shaft (15) rotatably installed on the I-shaped disc (5), two pulling ropes (16) wound on the I-shaped disc (5), two L-shaped rods (17) horizontally and slidably installed on the annular airbag (6) through mounting blocks respectively, and a rotating component for driving the winding shaft (15) to rotate. One ends of the two pulling ropes (16) far from the winding shaft (15) are respectively fixedly connected with the two L-shaped rods (17). One end of the L-shaped rod (17) is fixedly connected with one end of the moving rod (11).

6. The grasping manipulator for a thin-walled ring workpiece according to claim 5, characterized in that, A threaded hole is opened on the central axis of the winding shaft (15). A through hole is opened on the lower surface of the I-shaped disc (5). The rotating component includes a vertical rod (18) vertically and slidably installed in the through hole, a backing plate (19) fixedly installed at the lower end of the vertical rod (18), and a second telescopic spring (20) sleeved on the vertical rod (18). Two ends of the second telescopic spring (20) are respectively fixedly connected with the backing plate (19) and the I-shaped disc (5). Threads matching the threaded hole are opened on the side surface of the vertical rod (18). One end of the vertical rod (18) is threadedly inserted into the threaded hole.

7. The grasping manipulator for a thin-walled annular workpiece according to claim 3, characterized in that, One end of the suction pipe (10) is fixedly installed with a sealing ring (21). One end of the sealing ring (21) penetrates out of the suction hole.

8. The grasping manipulator for a thin-walled ring workpiece according to claim 1, characterized in that, A plurality of annular anti-slip lines (22) are formed on the side surface of the annular airbag (6), and the plurality of anti-slip lines (22) are symmetrically arranged on the annular airbag (6).

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