CN1824473A

CN1824473A - Pneumatic manipulator clamp

Info

Publication number: CN1824473A
Application number: CN 200510042513
Authority: CN
Inventors: 戴炬; 张志兵; 朱苏宁
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2005-02-24
Filing date: 2005-02-24
Publication date: 2006-08-30

Abstract

The present invention belongs to the field of robot gripper, in particular, it relates to a robot pneumatic gripper. It is composed of base, two-way drive cylinder, profiling finger, finger arm, balancing drawbar and auxiliary finger. Said invention also provides their connection mode and the working principle of said pneumatic robot gripper.

Description

Pneumatic mechanical hand clamping tongs

One, affiliated technical field

The present invention relates to manipulator clamp field, especially a kind of manipulator pneumatic gripping that grasps various tool, gold utensil in the city power distribution line maintenance that is applicable to.

Two, background technology

Various ways such as that the manipulator clamp has is electronic, surge, pneumatic, its structure substantially all uses various linkage to realize grasping the object of Different Weight, shape and size.Its application has very strong specific aim.

The object that needs in the operation of distribution line power-on serving to grasp has insulator, drop switch, arrester, cable, various tool, rod member and other accessories, wherein a part of body form is the circular object of different-diameter scope, some object is a sandwich tape circular groove annular surface object, and some other irregular block object.

Current also suitable manipulator needs to grasp the special-purpose machinery hand clamping tongs of various tool, gold utensil in the operation of distribution line power-on serving, be applied to the operation of distribution line power-on serving to manipulator and bring great inconvenience.

Three, summary of the invention

The purpose of this utility model is, carries out needing to grasp in the operation of distribution line power-on serving the needs of various tool, gold utensil at the application machine hand, designs a kind of quick change performance that has, and flexible operation, convenience are safe and reliable, the manipulator clamp of non-environmental-pollution.

Basic design of the present invention is, is made of pedestal, bi-directional drive cylinder, profiling finger, finger arm, balancing pull rod, auxiliary finger, and pedestal is provided with the joint that is connected with manipulator.Bi-directional drive cylinder sidewall centre and two end cap are provided with the pneumatic circuit interface, and two pistons are installed in the bi-directional drive cylinder, and piston rod is exported from bi-directional drive cylinder two ends; Finger arm and piston rod, balancing pole, profiling are pointed hinged, and the finger arm is connected with pin with pedestal; The finger of profiling simultaneously, finger arm member, base component constitutes parallel four-bar linkage, and profiling finger opening direction was constant when assurance finger arm member was done swing.In addition, synchronously flexible for guaranteeing about its piston rod, connect flat straight-bar machines structure about the end of balancing pull rod and the balancing pull rod other end and the hinged common composition of sliding pin that in the pedestal chute, slides on the finger arm member, make in the finger motion process two profilings finger all the time with clamp center line symmetry; Based on the profiling finger, install auxiliary finger additional after, clamp can grasp the object of the bigger Similar Round Object of diameter range and other class irregular surfaces; Profiling finger and auxiliary finger and object contact-making surface bonding hard rubber layer, the friction when increasing clamping, and have the power cushioning effect, satisfy the safe and reliable requirement of clamping.The chimb of 4 radial equipartitions of laced belt that pedestal is provided with, each chime radially external cylindrical surface is provided with dowel hole, and clamp is realized loading and unloading fast by pedestal top connection and manipulator.

Compact conformation of the present invention, volume is little, and is in light weight, and installation is regulated easy, is easy to processing, and is easy to loading and unloading quick with manipulator.Clamping circular object diameter range is big, because additional finger can be made respective shapes as required, so be used applied range, flexible operation, convenience with the profiling finger.Good insulation preformance, do not pollute operating environment, safe and reliable, can not only satisfy distribution wire Chu manipulator maintenance activity, be suitable for other manipulator operation occasions yet.

Four, description of drawings

Fig. 1 is a general structure schematic diagram of the present invention;

Fig. 2 is the structural representation of the auxiliary finger of band clamp.

Reference numeral:

1, profiling finger 2, finger arm 3, pull bar 4, pedestal 5, cylinder body 6, cylinder head 7 piston rods 8, joint 9, holding screw 10, manipulator standard interface 11, link pin 12, sliding pin 13, supporting pin 14, link pin 15, auxiliary finger steady pin 16, finger connecting pin 17, balancing pull rod 18, balancing pull rod 19, auxiliary finger

P, M, N are that bi-directional drive intake and exhaust connecting hole X is the clamp structure center line

Five, the specific embodiment

Be described in detail implementation process in conjunction with the accompanying drawings.

As shown in Figure 1 and Figure 2:

Pedestal 4 rear portions are provided with the joint 8 that is connected with the arm end interface, periphery is provided with 4 uniform evagination ribs, with circular grooves in the manipulator standard interface 10 and be with the outer rib of 4 uniform breach to cooperate, can make whole clamp be installed on the end of manipulator by hand quickly and easily with holding screw 9 then; Be provided with the hole of stationary housing in the middle of its left side block structure, be convenient to regulate the two-way pneumatic cylinder position, guarantee piston rod 7 symmetric motions.Right-hand member is provided with the pin-and-hole of the finger supporting pin 13 of pointing arm 2 and the pin-and-hole of cylinder lever connecting rod 3, and the slip cotter way L of balancing pull rod 17,18, and leaves the slotted eye that finger arm 2 rotates.

Cylinder piston rod 7 is hinged with finger arm 2 one ends, it is 1 hinged that finger arm 2 other ends and profiling are pointed, constant for guaranteeing profiling finger 1 direction in motion process, constitute parallel four-bar linkage by 4 pin joint A, B, C, D on profiling finger 1, finger arm 2, pedestal 4, the pull bar 3; The profiling finger can be when clamp grasps insulator, the groove on fastening insulator cannelure surface, and clamping is firm.

Balancing pull rod 17 1 ends are hinged by pin with finger arm 2, the other end and sliding pin 12 are hinged simultaneously, sliding pin can slide in the sliding tray L on the pedestal 4, in the clamp finger moving process, left and right sides position balance makes the Clamping Center of two profiling fingers 1 remain on the clamp structure center line X.

Have the installation locating slot of auxiliary finger 19 on the profiling finger 1, after auxiliary finger 19 inserts in the profiling finger groove, just can conveniently fix with auxiliary finger steady pin 15.

Auxiliary finger 19 can be made into any section configuration as required, joins and profiling finger 1, can adapt to the object of big circular or other irregular surface shapes of diameter range, for example pad, cable crimp head or the like.

Be provided with air inlet-outlet pipe connecting thread hole P in the middle of the cylinder side wall of bi-directional drive cylinder, the cylinder head 6 at two ends also is provided with and connects screwed hole M, the N that left and right sides air inlet-outlet pipe is used.

When compressed air enters the bi-directional drive cylinder by hole P, hole M, N exhaust, piston rod 7 stretches out to two ends, driving finger arm 2 and profiling finger 1 inwardly rotates around supporting pin 13, this moment is under the parallel 4 connecting rod effects that parallel draw bar 3, profiling finger 1, finger arm 2, pedestal 4 constitute, profiling is pointed 1 opening direction and is remained unchanged, all the time towards clamp structure symmetrical centre X, simultaneously under the balanced controls effect of balancing pull rod 17,18 and slip cotter way L composition, finger remains symmetry to clamp structure center line X about making, and realizes the clamping operation to object;

Otherwise when compressed air entered the bi-directional drive cylinder by hole M, N, hole P exhaust realized the operation of clamp relieving clamping object.

Adopt pneumatic mode, make the external pipeline insulation, the medium insulation, environmental suitability is strong, and is safe in the electric power maintenance activity, also is suitable for other manipulator operation occasions, cheap.

Claims

1. Pneumatic manipulator clamp, which is characterized by a base, a two-way drive cylinder, a profiling finger, a finger arm, a balance rod, and an auxiliary finger. The base is provided with a joint connected to the manipulator; the middle of the side wall of the two-way drive cylinder and Both ends of the cover are equipped with a pneumatic circuit interface, two pistons are installed in the two-way drive cylinder, and the piston rod is output from both ends of the two-way drive cylinder; the finger arm is hinged with the piston rod, balance rod, and profiling finger, and the finger arm is connected with the base with pins The profiling finger, the finger arm member, and the base part constitute a parallel four-bar linkage mechanism; one end of the finger arm member connected to the balance rod and the other end of the balance rod are hinged with the slide pin sliding in the base chute to form a left and right horizontal mechanism.

2. The pneumatic manipulator gripper according to claim 1, characterized in that the contact surface between the profiling finger and the auxiliary finger and the object is bonded with a hard rubber layer.

3. The pneumatic manipulator clamp according to claim 1, characterized in that the joint provided on the base has four radially evenly distributed convex edges, and each convex edge structure is provided on the radially outer cylindrical surface. Has dowel holes.