Inner supporting grabbing and assembling type flexible manipulator for fragile thin-wall cylindrical inner-wall workpiece

Abstract

The invention relates to an inner supporting grabbing and assembling type flexible manipulator for a fragile thin-wall cylindrical inner-wall workpiece. The inner supporting grabbing and assembling type flexible manipulator comprises an outer cylindrical sleeve, and a grabbing device which is mounted in the sleeve, wherein the grabbing device comprises a disc-shaped main body, an inner supportingmechanism which is arranged on the lower surface, and a linear moving driving device which is arranged on the upper surface; the inner supporting mechanism comprises supporting legs which are fixed tothe lower surface of the disc-shaped main body, sliding blocks which radially penetrate the lower ends of the supporting legs, connecting rods for connecting the sliding blocks and the linear movingdriving device, and circular arc-shaped stripy inner supporting bodies which are fixed to the outer ends of the sliding blocks; a soft spacer is fixed to the circular arc surface of the outer side ofeach inner supporting body; a flexible damping ring which is used as an end surface for assembling is fixed to the lower end surface of the sleeve; the linear moving driving device is telescoped to drive the inner supporting bodies to open and close to clamp the cylindrical inner wall workpiece; the inner supporting bodies are circular arc stripy and are capable of applying uniform supporting force to the cylindrical inner wall workpiece from the inside, and thus the fragile workpiece is hard to damage.

Description

technical field [0001] The invention relates to the technical field of material running manipulators, in particular to an inner support type flexible manipulator for grabbing and assembling fragile thin-walled cylindrical inner wall workpieces. Background technique [0002] For industrial production robots, feeding and unloading are the most basic functions. The chucks required for different types of products are also different. For cylindrical parts, external clamping chucks are generally used, that is, from the outside of the workpiece. To clamp the workpiece, these chucks mostly use three jaws to form a cylindrical hole to clamp and move cylindrical parts; for tubular parts, internal support chucks are generally used, but for fragile thin-walled The cylindrical inner wall workpiece adopts the traditional three grippers, referring to the existing patent (patent number: CN201710356466.9, patent name: inner support grabbing and mold pressing manipulator for cylindrical inner...

AI Technical Summary

Problems solved by technology

[0002] For industrial production robots, feeding and unloading are the most basic functions. The chucks required for different types of products are also different. For cylindrical parts, external clamping chucks are generally used, that is, from the outside of the workpiece. To clamp the workpiece, these chucks mostly use three jaws to form a cylindrical hole to clamp and move cylindrical parts; for tubular parts, internal support chucks are generally used, but for fragile thin-walled The cylindrical inner wall workpiece adopts the traditional three grippers, referring to the existing patent (patent number: CN201710356466.9, patent name: inner support grabbing and mold pressing manipulator for cylindrical inner wall workpieces), due to the The force area of ​​a single inner support claw is small, and the pressure generated on the inner wall of the workpiece is relatively large. There are multiple complex forces on the workpiece when the supporting claws are clamping the workpiece, and the inner supporting claws are difficult to control and easily cause unnecessary damage to the workpiece

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