CN110065815B

CN110065815B - Pneumatic clamping device

Info

Publication number: CN110065815B
Application number: CN201910241229.7A
Authority: CN
Inventors: 吴超; 陈玉振; 张洁
Original assignee: Nanjing Boyo Intelligent Technology Co ltd
Current assignee: Nanjing Shanhang Intelligent Technology Co.,Ltd.
Priority date: 2019-03-28
Filing date: 2019-03-28
Publication date: 2020-05-19
Anticipated expiration: 2039-03-28
Also published as: CN110065815A

Abstract

The invention discloses a pneumatic clamping device, comprising: the interior is the fixing base of the hollow structure; the flange is arranged on the upper surface of the fixed seat; the air cylinder fixing seat is fixed in the fixing seat; two cylinders oppositely arranged and arranged on the cylinder fixing seat; the floating joint is connected to a piston rod of the air cylinder; a floating joint seat fixed on the floating joint; the cylinder driving seat is tightly arranged on the floating joint seat; the clamping hand mounting plate is mounted on the cylinder driving seat; the clamping hand is fixed on the clamping hand mounting plate; the connecting component is arranged on the lower surface of the fixed seat and is in transmission connection with the two clamping hand mounting plates; and the sliding assembly is arranged between the lower surface of the fixed seat and the clamping hand mounting plate. The motion synchronism of the clamping fingers on the two sides is ensured by adopting the connecting rod mechanism, and the requirements on the machining and assembling precision of parts are reduced, so that the manufacturing cost of the clamping device is reduced.

Description

Pneumatic clamping device

Technical Field

The invention belongs to the technical field of clamping jaws in the field of industrial automation, and particularly relates to a pneumatic clamping device.

Background

The existing pneumatic clamping devices mainly have two types: the first type is that a self-made finger part is arranged on the basis of a pneumatic clamping jaw shelf product to form a clamping device; the second type is a clamping device which is formed by a single compact cylinder driving a single-side finger arranged on a linear guide rail and synchronously driving the other side finger through a gear rack module.

Although the first type of clamping device is simple in design and use, the pneumatic clamping jaw shelf is high in product price, so that the manufacturing cost of the whole clamping device is high. The second type of clamping device has higher requirements on part processing and assembling precision because the gear rack module linkage structure cannot be adjusted, so that the manufacturing cost is relatively higher.

Disclosure of Invention

In order to solve the technical problems in the background technology, the invention adopts two independent compact cylinders to respectively drive the clamping fingers at two sides, can provide enough clamping force, utilizes a connecting rod mechanism to ensure the motion synchronism of the clamping fingers at two sides, reduces the requirements on the processing and assembling precision of parts, can prolong the service life of the clamping device by replacing the driving cylinders, and provides a clamping device scheme with relatively low cost.

The invention is realized by adopting the following technical scheme: a pneumatic clamping device, comprising: the interior is the fixing base of the hollow structure; the flange is arranged on the upper surface of the fixed seat; the air cylinder fixing seat is fixed in the fixing seat; two cylinders mounted on the fixed base in a reverse manner; the floating joint is connected to a piston rod of the air cylinder; a floating joint seat fixed on the floating joint; the cylinder driving seat is tightly arranged on the floating joint seat; the clamping hand mounting plate is mounted on the cylinder driving seat; the clamping hand is fixed on the clamping hand mounting plate; the connecting component is arranged on the lower surface of the fixed seat and is in transmission connection with the two clamping hand mounting plates; and the sliding assembly is arranged between the lower surface of the fixed seat and the clamping hand mounting plate.

In a further embodiment, the connection assembly comprises: the first fixed rotating shaft is arranged at the center of the lower surface of the fixed seat; the second fixed rotating shafts are respectively fixed on the clamping hand mounting plates and are positioned on two sides of the first fixed rotating shaft; the central position of the rotating swing rod is sleeved on the first fixed rotating shaft; two joint bearings I which are respectively hinged with two ends of the rotating swing rod; the connecting rod is fixedly connected with the first joint bearing; the second joint bearing is fixedly connected with the connecting rod; and the second joint bearing is sleeved on the second fixed rotating shaft.

In a further embodiment, the slide assembly comprises: the linear sliding rails are transversely arranged on the lower surface of the fixed seat and positioned on two sides of the connecting assembly; the sliding block is fixed on the upper surface of the clamping arm mounting plate; the sliding block is clamped with the sliding rail.

In a further embodiment, the holder comprises: the upper fixing plate is fixedly connected with the flange; the left connecting plate is fixedly arranged on the left side of the upper fixing plate; the right connecting plate is fixedly arranged on the right side of the upper fixing plate; a front connecting plate installed at the front side of the upper fixing plate; a rear connecting plate disposed at a rear side of the upper fixing plate; and the lower fixing plate is fixed on the left connecting plate, the right connecting plate, the front connecting plate and the rear connecting plate through bolts.

In a further embodiment, the clamping hand mounting plate is fixedly mounted on the cylinder driving seat through a bolt; the clamping hand is fixedly arranged on the clamping hand mounting plate through a bolt.

In a further embodiment, a fixing bolt is fixed on the first fixing rotating shaft and used for preventing the rotating swing rod from falling off during rotation.

In a further embodiment, a copper bushing is arranged between the rotating swing rod and the first fixed rotating shaft.

By adopting the technical scheme: copper bushings are used to reduce friction.

In a further embodiment, an annular gasket is sleeved on the outer circumferential surface of the second fixed rotating shaft, and the annular gasket is located between the second fixed rotating shaft and the second knuckle bearing.

By adopting the technical scheme: the annular gasket is added to ensure that the second fixed rotating shaft and the connecting rod are on the same horizontal plane.

In a further embodiment, both ends of the connecting rod are provided with external threads, a threaded groove is formed at the joint of the first joint bearing and the connecting rod, and the connecting rod and the first joint bearing are connected in a matched mode through the internal threads and the external threads;

and a threaded groove is formed in the joint of the second joint bearing and the connecting rod, and the connecting rod is matched and connected with the second joint bearing through internal and external threads.

By adopting the technical scheme: the connecting rod is connected with the joint bearing II and the joint bearing I at the two ends of the connecting rod through threads, so that the total length of the connecting wire, the joint bearing I and the joint bearing II can be conveniently adjusted.

The invention has the beneficial effects that: the clamping force of the clamping device is increased by adopting the dual-drive air cylinder; the motion synchronism of clamping fingers on two sides is ensured by adopting the connecting rod mechanism, and the requirements on the machining and assembling precision of parts are reduced, so that the manufacturing cost of the clamping device is reduced; the service life of the clamping device can be prolonged by replacing the driving cylinder and other transmission parts.

Drawings

Fig. 1 is a schematic structural diagram of a pneumatic clamping device of the present invention.

Fig. 2 is a transverse cross-sectional view of a pneumatic clamping device of the present invention.

Fig. 3 is a longitudinal sectional view of a pneumatic clamping device of the present invention.

Fig. 4 is a schematic structural view of the connecting assembly of the present invention.

Fig. 5 is a schematic structural view of the gripper of the present invention.

Each of fig. 1 to 5 is labeled as: the device comprises a fixed seat 1, a flange 2, a cylinder fixed seat 3, a cylinder 4, a floating joint 5, a floating joint seat 6, a cylinder driving seat 7, a clamping hand mounting plate 8, a clamping hand 9, a first fixed rotating shaft 10, a second fixed rotating shaft 11, a rotating swing rod 12, a first joint bearing 13, a connecting rod 14, a second joint bearing 15, a linear sliding rail 16, a sliding block 17, a fixing bolt 18, a copper bush 19 and an annular gasket 20.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

The invention discloses a pneumatic clamping device, comprising: the device comprises a fixed seat 1, a flange 2, a cylinder fixed seat 3, a cylinder 4, a floating joint 5, a floating joint seat 6, a cylinder driving seat 7, a clamping hand mounting plate 8, a clamping hand 9, a first fixed rotating shaft 10, a second fixed rotating shaft 11, a rotating swing rod 12, a first joint bearing 13, a connecting rod 14, a second joint bearing 15, a linear sliding rail 16, a sliding block 17, a fixing bolt 18, a copper bush 19 and an annular gasket 20.

As shown in fig. 1 to 5, the interior of the fixing base 1 is a hollow structure, and the fixing base 1 may be a cuboid, a cube, or other hexahedrons. The left side and the right side of the fixed seat 1 are provided with openings. The holder 1 may include: the device comprises an upper fixing plate, a left connecting plate, a right connecting plate, a front connecting plate, a rear connecting plate and a lower fixing plate. The upper fixed plate is fixedly connected with the flange 2, the left connecting plate is fixed on the left side of the upper fixed plate, the right connecting plate is fixed on the right side of the upper fixed plate, the front connecting plate is installed on the front side of the upper fixed plate, the rear connecting plate is arranged on the rear side of the upper fixed plate, and the lower fixed plate is fixed on the left connecting plate, the right connecting plate, the front connecting plate and the rear connecting plate through bolts. Wherein, in order to facilitate the in and out of the piston rod of the cylinder 4, U-shaped grooves are respectively arranged on the left connecting plate and the right connecting plate.

The air cylinder fixing seat 3 is fixedly installed inside the fixing seat 1, the air cylinders 4 are two compact air cylinders 4, the two compact air cylinders 4 are installed in the air cylinder fixing seat 3 in a back-to-back manner, the floating joint 5 is connected to a piston rod of the compact air cylinder 4, and the floating joint seat 6 is fixed on the floating joint 5; the air cylinder driving seat 7 is tightly arranged on the floating joint seat 6, and the air cylinder driving seat 7 is driven by the air cylinder 4 to slide in the U-shaped groove.

The rotating swing rod 12, the first knuckle bearing 13, the connecting rod 14 and the second knuckle bearing 15 are connected and then rotate on the first fixed rotating shaft 10, so that the synchronism of the clamping hands 9 on the two sides is guaranteed.

The mounting plate 8 of the clamping hand 9 is fixed on the cylinder driving seat 7 through a screw, and the clamping hand 9 is mounted on the mounting plate 8 of the clamping hand 9 through a screw. The clamping hand 9 is L-shaped and is oppositely arranged, and the L-shaped clamping hand 9 is provided with a reserved mounting hole which can be matched with different types of susceptors, so that the clamping hand is suitable for different workpieces.

In order to control the closing of the clamping hands 9, a connecting assembly is arranged, and the connecting assembly is arranged on the lower surface of the fixed seat 1 and is in transmission connection with the two clamping hands 9 mounting plates 8. The connecting assembly includes: the device comprises a first fixed rotating shaft 10, a second fixed rotating shaft 11, a rotating swing rod 12, a first joint bearing 13 and a connecting rod 14. The first fixed rotating shaft 10 is installed at the central position of the lower surface of the fixed seat 1, the second fixed rotating shafts 11 are 2 in number and are respectively fixed on the mounting plate 8 of the clamping hand 9 and located on two sides of the first fixed rotating shaft 10, the central position of the rotating swing rod 12 is sleeved on the first fixed rotating shaft 10, and the first joint bearings 13 are two and are respectively hinged at two ends of the rotating swing rod 12. The two connecting rods 14 are respectively fixedly connected with the first knuckle bearings 13, and the second knuckle bearings 15 are fixedly connected with the connecting rods 14 and are sleeved on the corresponding second fixed rotating shafts 11.

A fixing bolt 18 is fixed on the first fixed rotating shaft 10, and the fixing bolt 18 is used for preventing the rotary oscillating bar 12 from falling off during rotation.

A copper bush 19 is arranged between the rotary swing rod 12 and the first fixed rotating shaft 10. The copper bush 19 serves to reduce friction.

And an annular gasket 20 is sleeved on the outer circumferential surface of the second fixed rotating shaft 11, and the annular gasket 20 is positioned between the second fixed rotating shaft 11 and the second knuckle bearing 15. The addition of the annular gasket 20 ensures that the second fixed rotating shaft 11 and the connecting rod 14 are on the same horizontal plane.

In order to adjust and control the total length of the connecting wire, the first joint bearing 13 and the second joint bearing 15, the connecting rod 14 is in threaded connection with the second joint bearing 15 and the first joint bearing 13 at the two ends of the connecting rod. External threads are arranged at two ends of the connecting rod 14, a thread groove is formed in the joint of the first joint bearing 13 and the connecting rod 14, and the connecting rod 14 is connected with the first joint bearing 13 in a matched mode through the internal threads and the external threads; a threaded groove is formed in the joint of the second knuckle bearing 15 and the connecting rod 14, and the connecting rod 14 is connected with the second knuckle bearing 15 in a matched mode through internal and external threads.

In order to keep the clamping hand 9 always translating on a straight line, the sliding component is arranged between the lower surface of the fixed seat 1 and the mounting plate 8 of the clamping hand 9.

The sliding assembly includes: the linear sliding rails 16 are transversely arranged on the lower surface of the fixed seat 1 and positioned on two sides of the connecting assembly; and a slide block 17 fixed on the upper surface of the mounting plate 8 of the clamping hand 9; the sliding block 17 is clamped with the sliding rail.

The working principle of the invention is as follows: the rod-free cavity of the compact cylinder is used for air inlet, the piston rod extends out, one end of a floating joint is connected to the piston rod of the compact cylinder, the other end of the floating joint is matched with a floating joint seat, the floating joint seat is fixed on a cylinder driving seat, a connecting bolt is used for connecting a clamp mounting plate and the cylinder driving seat together, a clamp is fixed on the clamp mounting plate through a fixing bolt, the clamp mounting plate is mounted on two sliding blocks of a sliding assembly, a guide rail in the sliding assembly is fixed on a lower fixing plate of a clamp, and the clamp connecting flange is connected with an upper fixing plate of the clamp and the tail end of a robot, so that the rod-free cavity of the compact cylinder is used for; on the contrary, the compact cylinder has a rod cavity for air intake, the piston rod retracts, the clamping hand is closed, and the workpiece is clamped.

It will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A pneumatic clamping device, comprising: the interior is the fixing base of the hollow structure; the flange is arranged on the upper surface of the fixed seat; the air cylinder fixing seat is fixed in the fixing seat; two cylinders oppositely arranged and arranged on the cylinder fixing seat; the floating joint is connected to a piston rod of the air cylinder; a floating joint seat fixed on the floating joint; the cylinder driving seat is tightly arranged on the floating joint seat; the clamping hand mounting plate is mounted on the cylinder driving seat; the clamping hand is fixed on the clamping hand mounting plate; the connecting component is arranged on the lower surface of the fixed seat and is in transmission connection with the two clamping hand mounting plates; the sliding assembly is arranged between the lower surface of the fixed seat and the clamping hand mounting plate;

the connecting assembly includes: the first fixed rotating shaft is arranged at the center of the lower surface of the fixed seat; the second fixed rotating shafts are respectively fixed on the clamping hand mounting plates and are positioned on two sides of the first fixed rotating shaft; the central position of the rotating swing rod is sleeved on the first fixed rotating shaft; two joint bearings I which are respectively hinged with two ends of the rotating swing rod; the connecting rod is fixedly connected with the first joint bearing; the second joint bearing is fixedly connected with the connecting rod; the second joint bearing is sleeved on the second fixed rotating shaft;

the sliding assembly includes: the linear sliding rails are transversely arranged on the lower surface of the fixed seat and positioned on two sides of the connecting assembly; the sliding block is fixed on the upper surface of the clamping arm mounting plate; the sliding block is clamped with the sliding rail.

2. A pneumatic clamping apparatus as defined in claim 1 wherein said anchor block comprises: the upper fixing plate is fixedly connected with the flange; the left connecting plate is fixedly arranged on the left side of the upper fixing plate; the right connecting plate is fixedly arranged on the right side of the upper fixing plate; a front connecting plate installed at the front side of the upper fixing plate; a rear connecting plate disposed at a rear side of the upper fixing plate; and the lower fixing plate is fixed on the left connecting plate, the right connecting plate, the front connecting plate and the rear connecting plate through bolts.

3. The pneumatic clamping device as claimed in claim 1, wherein the clamping hand mounting plate is fixedly mounted on the cylinder driving seat through bolts; the clamping hand is fixedly arranged on the clamping hand mounting plate through a bolt.

4. The pneumatic clamping device as claimed in claim 1, wherein a fixing bolt is fixed on the first fixing rotating shaft, and the fixing bolt is used for preventing the rotating swing link from falling off when the rotating swing link rotates.

5. The pneumatic clamping device as claimed in claim 1, wherein a copper bushing is disposed between the first rotary swing link and the first fixed rotary shaft.

6. The pneumatic clamping device as claimed in claim 1, wherein an annular gasket is sleeved on an outer circumferential surface of the second fixed rotating shaft, and the annular gasket is located between the second fixed rotating shaft and the second knuckle bearing.

7. The pneumatic clamping device as claimed in claim 1, wherein external threads are arranged at two ends of the connecting rod, a thread groove is arranged at the joint of the first joint bearing and the connecting rod, and the connecting rod and the first joint bearing are connected in a matched mode through the internal threads and the external threads;