Inner-supported flexible manipulator for grasping and assembling fragile thin-walled cylindrical workpieces

Abstract

The invention relates to an inner-supported flexible manipulator for grabbing and assembling fragile thin-walled cylindrical inner wall workpieces, which includes an external cylindrical sleeve and a grabbing device installed in the sleeve; the grabbing device includes a disc-shaped main body, The inner supporting mechanism on the lower surface and the linear motion driver on the upper surface; the inner supporting mechanism includes: a support leg fixed on the lower surface of the disc-shaped main body, and a sliding block radially penetrating through the lower end of the supporting leg; used to connect the sliding block and the linear motion driver The connecting rod is fixed on the arc strip-shaped inner support body at the outer end of the sliding block, and a soft gasket is fixed on the arc surface outside each inner support body, and the lower end surface of the sleeve is fixed with a flexible shock absorber The ring is used as the end face for assembly; the telescopic drive of the linear motion driver drives the opening and closing of the inner support body to realize the clamping of the cylindrical inner wall workpiece. The inner support body is arc-shaped and can form a uniform support for the workpiece from the cylindrical inner wall workpiece Force, not easy to damage fragile workpieces.

Description

Technical field [0001] The present invention relates to the technical field of material running mechanism, and in particular, to an inner support and assembly flexible robot of fragile wall cylindrical inner wall workpieces. Background technique [0002] For industrial production robots, tethered and discharge is the most basic function. It is not the same for different types of products. For cylindrical parts, the outer clamp chuck is generally used, that is, from the outside of the workpiece To clamp the workpiece, and these collets are mostly clamping and moving cylindrical parts with three jaws; for tubular parts, the inner collet is generally used, but for fragile walls Cylindrical inner wall workpiece, using three three jaws, refer to the existing patent (patent number: CN201710356466.9, patent name: cylindrical wall workpiece inner arrest and set pressure robot), due to this patent The action of a single inner struts is smaller than the pressure generated by the inner wall...

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

Images