阅读说明：本技术 一种新型柔性气磁驱动执行器 (Novel flexible air-magnetic driving actuator ) 是由 李小宁 张亮 于 2019-08-29 设计创作，主要内容包括：本发明公开了一种新型柔性气磁驱动执行器,包括柔性气缸、气缸滑动台和多个缸形固定装置,柔性气缸包括柔性气缸缸体和位于其内的气缸活塞,气缸活塞包括活塞套、活塞密封圈和活塞内磁体,活塞密封圈设置在活塞套外部且与柔性气缸缸体内壁面接触；气缸滑动台包括滑动台主体、多个滚珠和外磁体,滑动台主体设置于柔性气缸缸体的外部,外磁体卡接在滑动台主体与柔性气缸缸体外表面之间,滚珠位于滑动台主体的滚珠槽内且与性气缸缸体外表面接触,滑动台主体的下部开设有设备安装孔。本发明多个缸形固定装置的配合使气缸形状变化为需要的缸形,应用气压传动和磁力作用,通过柔性气缸缸体形状的变化,能够实现末端执行器在不同曲线轨迹上的运动。(The invention discloses a novel flexible air-magnetic driving actuator which comprises a flexible air cylinder, an air cylinder sliding table and a plurality of cylinder-shaped fixing devices, wherein the flexible air cylinder comprises a flexible air cylinder body and an air cylinder piston positioned in the flexible air cylinder body; the cylinder sliding table comprises a sliding table main body, a plurality of balls and an outer magnet, the sliding table main body is arranged outside the flexible cylinder body, the outer magnet is clamped between the sliding table main body and the outer surface of the flexible cylinder body, the balls are located in ball grooves of the sliding table main body and are in contact with the outer surface of the flexible cylinder body, and equipment mounting holes are formed in the lower portion of the sliding table main body. The cylinder shape is changed into a required cylinder shape by the cooperation of the plurality of cylinder shape fixing devices, and the end effector can move on different curve tracks by applying pneumatic transmission and magnetic force action and changing the shape of the flexible cylinder body.)

1. The novel flexible air-magnetic driving actuator is characterized by comprising a flexible air cylinder, an air cylinder sliding table and a plurality of cylinder-shaped fixing devices, wherein the flexible air cylinder comprises a flexible air cylinder body (1) and an air cylinder piston (2) positioned in the flexible air cylinder body (1), the air cylinder piston (2) comprises a piston sleeve (3), a piston sealing ring (4) and an in-piston magnet (5), the piston sealing ring (4) is arranged outside the piston sleeve (3), the piston sealing ring (4) is in contact with the inner wall surface of the flexible air cylinder body (1), and the in-piston magnet (5) is arranged in the piston sleeve (3);

the cylinder sliding table comprises a sliding table main body (8), a plurality of balls (6) and an outer magnet (7), the sliding table main body (8) is arranged outside the flexible cylinder body (1), the outer magnet (7) is clamped in a groove in the middle surface of the sliding table main body (8) and is positioned between the sliding table main body (8) and the outer surface of the flexible cylinder body (1), the balls (6) are positioned in ball grooves in the upper surfaces of the two sides of the sliding table main body (8), the balls (6) are in contact with the outer surface of the flexible cylinder body (1), and equipment mounting holes (9) are formed in the lower portion of the sliding table main body (8);

each cylinder-shaped fixing device comprises a fixing support (11), two mounting gaskets (13) and a limiting piece (14), wherein the fixing support (11) comprises an upper connecting plate (11-1) and a lower fixing plate (11-2) located on the lower portion of the upper connecting plate (11-1), the lower surface of the lower fixing plate (11-2) is in contact fit with the outer wall surface of the flexible cylinder body (1), the limiting piece (14) bypasses the outer surface of the flexible cylinder body (1) and is attached to two side surfaces of the lower fixing plate (11-2), and the two mounting gaskets (13) are located on the outer sides of the limiting pieces (14) on two side surfaces of the lower fixing plate (11-2) respectively and compress and fix the limiting pieces (14) and the two side surfaces of the lower fixing plate (11-2).

2. The novel flexible air-magnetic driving actuator as claimed in claim 1, wherein the joint of the front end surface and the side surface of the cylinder piston (2) is an arc transition surface, and the joint of the rear end surface and the side surface is an arc transition surface.

3. The novel flexible air-magnetic drive actuator according to claim 1, wherein the sliding table main body (8) comprises a left sliding table main body (8-1) and a right sliding table main body (8-2) which are symmetrically connected, the bottom surfaces of the left sliding table main body (8-1) and the right sliding table main body (8-2) are both provided with equipment installation grooves (10), and the equipment installation holes (9) are arranged through the equipment installation grooves (10).

4. The novel flexible aeromagnetic actuator according to claim 1, wherein said upper connecting plate (11-1) is integrally connected with a lower fixing plate (11-2).

5. The novel flexible aeromagnetic actuator according to any one of claims 1 to 4, wherein the fixing support (11) is provided with a plurality of stepped holes (12) penetrating from the lower surface to the upper surface thereof.

6. The novel flexible air-magnetic driving actuator as claimed in claim 5, wherein each cylinder-shaped fixing device is provided with a limiting sheet fixing and mounting hole which penetrates through the limiting sheet (14) and the lower fixing plate (11-2) from the surface of one mounting gasket (13) to the surface of the other mounting gasket (13).

Technical Field

The invention belongs to the field of pneumatic transmission, and particularly relates to a novel flexible pneumatic-magnetic driving actuator.

Background

At present, in the field of point-to-point material conveying in industrial production, a pneumatic electric actuator is widely applied, the pneumatic actuator mostly uses a linear cylinder and a swing cylinder and can drive a load to move on a linear track and an arc track, and in some application occasions, the actuator is required to realize a non-circular non-linear motion track, for example, in the scene of industrial manipulator gluing, the gluing track has a certain arc line, and the current industrial realization of the track motion is realized by using a stepping motor and an electric execution cylinder to fit the arc line. However, the mechanism for achieving such action is costly and the complexity of the device is high.

Chinese patent 201520916657.2 discloses a novel flexible rodless cylinder, in which a spherical magnetic piston is designed, and a moving part positioned by a pulley is designed outside the cylinder. Although the flexible cylinder body and the sliding table run in a curve mode, the cylinder piston adopts a spherical magnet, the magnetic coupling with the magnet of the matched sliding table is small, the magnetic force generated between the magnets is small, and the rubber layer is used outside the piston and has large friction with the inner wall of the flexible cylinder. In addition, the shape of the cylinder body is not adjusted and fixed, and the motion track of the moving part cannot be controlled; the driving sliding table can only be arranged on the cylinder for use, and cannot drive the actuator to work below the cylinder.

Disclosure of Invention

The invention aims to provide a novel air-magnetic driving actuator of which an end effector can move along a curved track.

The solution scheme for realizing the purpose of the invention is as follows: a novel flexible air-magnetic driving actuator comprises a flexible air cylinder, an air cylinder sliding table and a plurality of cylinder-shaped fixing devices, wherein the flexible air cylinder comprises a flexible air cylinder body and an air cylinder piston positioned in the flexible air cylinder body, the air cylinder piston comprises a piston sleeve, a piston sealing ring and an internal piston magnet, the piston sealing ring is arranged outside the piston sleeve and is in contact with the inner wall surface of the flexible air cylinder body, and the internal piston magnet is arranged in the piston sleeve;

the air cylinder sliding table comprises a sliding table main body, a plurality of balls and an outer magnet, wherein the sliding table main body is arranged outside the flexible air cylinder body, the outer magnet is clamped in a groove in the middle surface of the sliding table main body and is positioned between the sliding table main body and the outer surface of the flexible air cylinder body, the balls are positioned in ball grooves in the upper surfaces of the two sides of the sliding table main body and are in contact with the outer surface of the flexible air cylinder body, and an equipment mounting hole is formed in the lower portion of the sliding table main body;

every jar shape fixing device includes fixed bolster, two installation gasket and spacing piece, the fixed bolster includes upper portion connecting plate and the lower part fixed plate that is located upper portion connecting plate lower part, the lower surface of lower part fixed plate and the outer wall contact cooperation of flexible cylinder body, spacing piece bypass flexible cylinder body surface and with two side laminating of lower part fixed plate, two installation gasket are located the outside of the spacing piece of two sides of lower part fixed plate respectively and compress tightly fixedly with two sides of spacing piece and lower part fixed plate.

Furthermore, the joint of the front end surface and the side surface of the cylinder piston is an arc transition surface, and the joint of the rear end surface and the side surface is an arc transition surface.

Further, the sliding table main part includes left sliding table main part and right sliding table main part of symmetric connection, the equipment mounting groove has all been seted up to the bottom surface of left side sliding table main part and right sliding table main part, the equipment mounting hole passes the equipment mounting groove setting.

Further, the upper connecting plate is integrally connected with the lower fixing plate.

Furthermore, a plurality of stepped holes penetrating from the lower surface to the upper surface of the fixing support are formed in the fixing support.

Further, each cylinder-shaped fixing device is provided with a limiting piece fixing and mounting hole which penetrates through the limiting piece and the lower fixing plate from the surface of one mounting gasket to the surface of the other mounting gasket.

Compared with the prior art, the invention has the remarkable advantages that:

(1) the invention adopts the design mode of the inner magnetic shoe and the outer magnetic shoe, the inner magnet is tightly attached to the inner side of the cylinder wall, the outer magnet is tightly attached to the outer side of the cylinder wall, the synchronous movement of the inner piston and the outer sliding table is realized, the inner magnet and the outer magnet can realize close contact, and the driving force of the movement of the sliding table is obviously improved;

(2) according to the invention, the cylinder body is fixed on the bracket by adopting the thin limiting sheet, and the change of the bending shape of the flexible cylinder can be realized by arranging the plurality of cylinder-shaped fixing devices, so that the end effector can move according to a required track, the adaptability of the actuator is improved, and the application range is expanded;

(3) the sliding table provided with the balls is adopted, so that the movement friction between the sliding table and the flexible cylinder body is reduced, and the operation of movement steering of the sliding table is better facilitated;

(4) the bottom of the sliding table main body can be connected with an end effector (such as a linear cylinder and a vacuum chuck) through the equipment mounting hole and the equipment mounting groove, so that a series of operations such as lifting, transporting, putting down and the like of a workpiece can be realized through the end effector.

Drawings

Fig. 1 is a schematic diagram of the overall structure of the novel flexible air-magnetic driving actuator.

Figure 2 is a cross-sectional view of the piston and flexible cylinder block of the present invention.

Fig. 3 is a cross-sectional view of the slide table of the present invention.

Fig. 4 is a cross-sectional view of a flexible cylinder-shaped fixture of the present invention.

Fig. 5 is a schematic view of the fixing bracket of the present invention.

Detailed Description

As shown in fig. 1-4, a novel flexible air-magnetic actuator comprises a flexible air cylinder, an air cylinder sliding table and a plurality of cylinder-shaped fixing devices, wherein the flexible air cylinder comprises a flexible air cylinder body 1 and an air cylinder piston 2 positioned in the flexible air cylinder body 1, the air cylinder piston 2 comprises a piston sleeve 3, a piston sealing ring 4 and an in-piston magnet 5, the piston sealing ring 4 is arranged outside the piston sleeve 3, the piston sealing ring 4 is in contact with the inner wall surface of the flexible air cylinder body 1, and the in-piston magnet 5 is arranged in the piston sleeve 3;

the cylinder sliding table comprises a sliding table main body 8, a plurality of balls 6 and an outer magnet 7, wherein the sliding table main body 8 is arranged outside the flexible cylinder body 1, the outer magnet 7 is clamped in a groove in the middle surface of the sliding table main body 8 and is positioned between the sliding table main body 8 and the outer surface of the flexible cylinder body 1, the balls 6 are positioned in ball grooves in the upper surfaces of the two sides of the sliding table main body 8, the balls 6 are all in contact with the outer surface of the flexible cylinder body 1, and an equipment mounting hole 9 is formed in the lower portion of the sliding table main body 8;

each cylinder-shaped fixing device comprises a fixing support 11, two mounting gaskets 13 and a limiting piece 14, wherein the fixing support 11 comprises an upper connecting plate 11-1 and a lower fixing plate 11-2 positioned at the lower part of the upper connecting plate 11-1, the lower surface of the lower fixing plate 11-2 is in contact fit with the outer wall surface of the flexible cylinder body 1, the limiting piece 14 bypasses the outer surface of the flexible cylinder body 1 and is attached to two side surfaces of the lower fixing plate 11-2 (for example, black thick lines covering the outer surface of the flexible cylinder body 1 to two side surfaces of the lower fixing plate 11-2 in fig. 4), and the two mounting gaskets 13 are respectively positioned at the outer sides of the limiting pieces 14 on the two side surfaces of the lower fixing plate 11-2 and press and fix the limiting pieces 14 and the two side surfaces of the lower fixing plate 11-2.

Further, referring to fig. 2, a joint between the front end surface and the side surface of the cylinder piston 2 is an arc transition surface, and a joint between the rear end surface and the side surface is an arc transition surface.

Further, with reference to fig. 3, the sliding table main body 8 includes a left sliding table main body 8-1 and a right sliding table main body 8-2 which are symmetrically connected, the bottom surfaces of the left sliding table main body 8-1 and the right sliding table main body 8-2 are both provided with an equipment installation groove 10, and the equipment installation hole 9 is disposed through the equipment installation groove 10.

Further, referring to fig. 4, the upper connecting plate 11-1 is integrally connected to the lower fixing plate 11-2.

Further, referring to fig. 5, the fixing bracket 11 is provided with a plurality of stepped holes 12 penetrating from a lower surface to an upper surface thereof, and the fixing bracket 11 can be mounted on a slide block on a guide rail through the stepped holes 12 using bolts.

Further, referring to fig. 4, each of the cylinder-shaped fixing devices is provided with a limiting piece fixing mounting hole penetrating from the surface of one mounting pad 13 to the surface of the other mounting pad 13 through the limiting piece 14 and the lower fixing plate 11-2, and the limiting piece 14 wraps the fixing bracket and the cylinder body and is mounted on the fixing bracket through the mounting pad 13 and the bolt.

The working principle is as follows:

first, a plurality of sets of cylinder-shaped fixing devices define the flexible cylinder body 1 into a required shape (such as an S shape and the like) and fix the flexible cylinder body. Compressed air is introduced into the air cylinder, the air cylinder piston 2 moves along the flexible air cylinder body 1 under the action of air pressure, the inner magnet 5 and the outer magnet 7 generate interaction, and the sliding table 8 is driven by the outer magnet 7 to move synchronously with the piston 2 under the action of magnetic force. When the cylinder camber changes, the arcwall face of piston 2 front and back end department can realize turning to smoothly, and simultaneously, the ball at the outside sliding stand top of cylinder possess great motion space, and when the sliding stand turned to, partial pearl was extruded by the jar wall, and automatic laminating cylinder body radian curve for the sliding stand turns to smoothly, realizes the smooth operation of flexible cylinder.

The glue gun in industrial production is taken as an example to illustrate the specific application of the invention, if the required gluing track is an arc line, the invention can be used for directly realizing the gluing operation of the arc-shaped track, the bottom of the sliding table main body 8 is connected with the linear cylinder and the glue gun through the equipment mounting hole 9 and the equipment mounting groove 10, if the gluing operation of the specific track is required to be finished, the flexible cylinder body 1 is bent into a required curve track through the push-pull operation of a plurality of groups of cylinder-shaped fixing devices, compressed gas is introduced into the linear cylinder to enable the linear cylinder to extend out, a glue spraying opening of a glue gun is in contact with the upper surface of a workpiece, glue coating starts, the compressed gas is introduced into one end of the flexible cylinder body 1, a cylinder piston 2 drives a cylinder external sliding table, the loaded linear cylinder and the glue gun to move along the curve track, and after the glue coating is completed, the linear cylinder drives the glue gun to retract and leave the surface of the workpiece. The flexible cylinder body 1 is used for realizing the gluing process of the curve track, the operation is simple, and the task of the specific operation track can be quickly and effectively finished.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.