CN103978489A - Pneumatic gripper mechanical arm - Google Patents
Pneumatic gripper mechanical arm Download PDFInfo
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- CN103978489A CN103978489A CN201410229813.8A CN201410229813A CN103978489A CN 103978489 A CN103978489 A CN 103978489A CN 201410229813 A CN201410229813 A CN 201410229813A CN 103978489 A CN103978489 A CN 103978489A
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- jig arm
- shaped
- cylinder rod
- connecting portion
- support
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Abstract
The invention discloses a pneumatic gripper mechanical arm and belongs to the technical field of plastics machining machinery. The pneumatic gripper mechanical arm comprises an air cylinder body, a piston, an air cylinder rod, and a pair of clamping arms which are connected to the air cylinder rod and can be oppositely folded and unfolded. The pneumatic gripper mechanical arm is characterized in that one end of the air cylinder rod, which is connected with the clamping arms, is provided with a U-shaped frame, the cross arm of the U-shaped frame is connected with the air cylinder rod, and the end portions of the two longitudinal arms of the U-shaped frame are respectively provided with a bearing; the pair of clamping arms are slidingly connected to the two vertical arms of the U-shaped frame through a support with a bearing groove, the bearings work inside the bearing groove, and the support is rotatably connected to the air cylinder body through a support pin. The pneumatic gripper mechanical arm has the advantages of being simple and compact in structure, small in size, low in energy consumption and the like.
Description
Technical field
The present invention relates to a kind of manipulator, relate in particular to a kind of gas pawl manipulator, for clamping, plastic pipe for conveying base, belong to technical field of plastic processing machinery.
Background technology
All types of plastic bottle is widely used in the fields such as daily life, medicine, chemical industry as mineral water bottle, bottle for cosmetics, medicine bottle etc.Blower for plastic bottle is the machine of modal production plastic bottle on market, mainly comprise frame, heater, divide apart from parts such as device, conveying device, equipment for blowings, bottle embryo enters from blank inlet, after the steps such as heating, point distance, enters bottle blowing moulding in mould.In the course of conveying of each link, usually need by folder embryo manipulator, bottle embryo to be clamped and carried.Blank-clamping machine tool hand in the course of the work, need to carry out a series of opening and closing action.Existing manipulator, its two jig arm is arranged on respectively on drive unit, when action, two jig arm are rotated around rotating shaft separately respectively, jig arm is in the time opening, and distance is in the horizontal direction larger, and such manipulator requires larger in the spacing of installing between two manipulators, installable manipulator negligible amounts in limited space, this has increased to a certain extent the volume of machine itself and has taken up an area space; In addition, the course of action of manipulator requires smooth and easy as much as possible, friction, to reduce energy loss, raises the efficiency.
Summary of the invention
The present invention is directed to the above-mentioned technical problem and the requirement that in prior art, exist, provide that required headspace between a kind of adjacent two manipulators is little, compact conformation and course of action friction is little, energy consumption is low gas pawl manipulator.
For this reason, the present invention adopts following technical scheme:
Gas pawl manipulator, comprise: cylinder block, piston, cylinder rod and be connected in a pair of jig arm cylinder rod, that can relatively gather and open, it is characterized in that: one end that described cylinder rod is connected with jig arm is provided with one U-shaped, the transverse arm of U-shaped is connected in cylinder rod, the end of U-shaped two perpendicular arms is respectively arranged with a bearing, described a pair of jig arm is slidably connected on two perpendicular arms of described U-shaped by a support with bearing groove respectively, described bearing runs in bearing groove, and support is rotationally connected with on cylinder block by a supporting pin.
Further, described support comprises the first connecting portion being connected with U-shaped and the second connecting portion being connected with jig arm, on the first connecting portion, be provided with bearing groove, the perpendicular arm of described U-shaped is forked, have upper surface and lower surface, the first connecting portion of described support is sheathed between the upper surface and lower surface of perpendicular arm by bearing groove.
As preferably, described support is rotationally connected with in cylinder block by a common supporting pin.Two stands is rotationally connected with in cylinder block by a common supporting pin, makes the structure of manipulator compacter, meanwhile, has reduced the machining accuracy of manipulator, processes convenient, accurate.
As preferably, described jig arm and the second connecting portion are for removably connecting.
As preferably, in described cylinder block, supporting pin above be also provided with a spacing catch.
As preferably, be respectively arranged with wear plate and lower wear plate at the upper and lower of described U-shaped.
As preferably, the arc surface that the opposite face of described a pair of jig arm is indent.
Gas pawl manipulator of the present invention, jig arm is connected on cylinder rod by U-shaped and support, and jig arm has larger stretching out and open stroke, jig arm can be completed in less space open and gathers action; Jig arm can realize in the horizontal direction 180 ° and open, and can clamp the bottle embryo within the scope of larger diameter, and this action can complete in less spatial dimension; The design of spacing catch can prevent that jig arm is gathering excessively gathering in process; The design of upper and lower wear plate can prevent that jig arm is in the motion perpendicular on power direction, meanwhile, reduces the friction of support and cylinder block, and maintenance and replacing are convenient.In addition, between jig arm and support, adopt dismountable connected mode, change the jig arm of respective shapes bottle embryo adaptability to different profiles, as for round bottle embryo, can adopt opposite face is a pair of jig arm of circular arc, and for square bottle embryo, can adopt opposite face is square a pair of jig arm, applied widely.
Therefore, robot manipulator structure compactness of the present invention, volume are little, and applied widely; The complete machine containing this manipulator compacter for project organization provides possibility.Meanwhile, the energy consumption of course of action is little, and efficiency is high.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention 1;
Fig. 2 is the open mode structural representation of the embodiment of the present invention 1;
Fig. 3 is the closure state structural representation of the embodiment of the present invention 1;
Fig. 4, Fig. 5 are the structural representation of the embodiment of the present invention 1 jig arm, support, U-shaped and cylinder rod;
Fig. 6 is the structural representation of the embodiment of the present invention 2;
Fig. 7 is the open mode structural representation of the embodiment of the present invention 2;
Fig. 8 is the closure state structural representation of the embodiment of the present invention 2;
Fig. 9 is the structural representation of the embodiment of the present invention 2 medium-height trestles.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, structure of the present invention is further described in detail, part same as the prior art in the present invention is with reference to prior art.
Embodiment 1:
As Figure 1-5, this gas pawl manipulator, comprise cylinder block 1, piston, cylinder rod 2, be connected in a pair of jig arm that can relatively gather and open of cylinder rod 2, referred to here as left jig arm 3 and right jig arm 4, one end of cylinder rod 2 is connected with piston, the other end is connected with jig arm, one end that cylinder rod 2 is connected with jig arm is provided with one U-shaped 5, there is the transverse arm 51 of a horizontal direction and the perpendicular arm 52 of two vertical direction for U-shaped 5, transverse arm 51 is connected in cylinder rod 2, the end of two perpendicular arms 52 is respectively arranged with a bearing 6, left, right jig arm 3 and 4 is respectively by a support, referred to here as left socle 7 and right support 8, be slidably connected on two perpendicular arms 52, left, right support includes the first connecting portion 9 being connected with U-shaped and the second connecting portion 10 being connected with jig arm, on the first connecting portion 9, be provided with bearing groove 11, in the present embodiment, the first connecting portion 9 and the vertical setting of the second connecting portion 10, the perpendicular arm 52 of described U-shaped 5 is forked, there is upper surface 52a and lower surface 52b, left, the first connecting portion 9 of right support is sheathed on by bearing groove 11 between the upper surface 52a and lower surface 52b of perpendicular arm 52, bearing 6 runs in bearing groove 11.Left and right support 7 and 8 is rotationally connected with on cylinder block 1 by a supporting pin 12 respectively.In cylinder block 1, two supporting pins 12 above be also provided with a spacing catch 13.In the upper and lower of U-shaped 5, cylinder block, be respectively arranged with wear plate 14 and lower wear plate 15.Left and right jig arm 3 is connected for pin with the second connecting portion 10 with 4.Certainly, jig arm and support also can be structure as a whole.The arc surface that the opposite face of left and right jig arm 3 and 4 is indent.
In addition, on cylinder block, be provided with guide ring, sealing ring and magnet ring along the peripheral direction of piston and cylinder rod 2, this is prior art, is not described further at this.
Embodiment 2:
The difference of the present embodiment and embodiment 1 is:
As Figure 6-9, left socle 7 and right support 8 are rotationally connected with in cylinder block 1 by a common supporting pin 12, left and right support includes the first connecting portion 9 being connected with U-shaped 5 and the second connecting portion 10 being connected with jig arm, on the first connecting portion 9, be provided with bearing groove 11, the acute angle angle β of the first connecting portion 9 long axis directions and the second connecting portion 10 long axis directions is 50-80 °, is about in the present embodiment 65 °.Left socle 7 and right support 8 are rotationally connected with in cylinder block 1 by a common supporting pin 12, make the structure of manipulator compacter, meanwhile, have reduced the machining accuracy of manipulator, process convenient, accurate.
Gas pawl robot manipulator structure compactness of the present invention, volume are little, and energy consumption is low, effective, applied widely.
Certainly, the present invention also has other embodiments, and listed is above only preferred embodiment of the present invention, is not used for limiting practical range of the present invention, and all equivalences of doing according to the content of the application's the scope of the claims change and modify, and all should be technology category of the present invention.
Claims (7)
1. gas pawl manipulator, comprise: cylinder block, piston, cylinder rod and be connected in a pair of jig arm cylinder rod, that can relatively gather and open, it is characterized in that: one end that described cylinder rod is connected with jig arm is provided with one U-shaped, the transverse arm of U-shaped is connected in cylinder rod, the end of U-shaped two perpendicular arms is respectively arranged with a bearing, described a pair of jig arm is slidably connected on two perpendicular arms of described U-shaped by a support with bearing groove respectively, described bearing runs in bearing groove, and support is rotationally connected with in cylinder block by a supporting pin.
2. gas pawl manipulator according to claim 1, it is characterized in that: described support comprises the first connecting portion being connected with U-shaped and the second connecting portion being connected with jig arm, on the first connecting portion, be provided with bearing groove, the perpendicular arm of described U-shaped is forked, have upper surface and lower surface, the first connecting portion of described support is sheathed between the upper surface and lower surface of perpendicular arm by bearing groove.
3. gas pawl manipulator according to claim 1, is characterized in that: described support is rotationally connected with in cylinder block by a common supporting pin.
4. gas pawl manipulator according to claim 1, is characterized in that: described jig arm and the second connecting portion are for removably connecting.
5. gas pawl manipulator according to claim 1, is characterized in that: in described cylinder block, supporting pin above be also provided with a spacing catch.
6. gas pawl manipulator according to claim 1, is characterized in that: be respectively arranged with wear plate and lower wear plate at the upper and lower of described U-shaped.
7. according to the arbitrary described gas pawl manipulator of claim 1-6, it is characterized in that: the arc surface that the opposite face of described a pair of jig arm is indent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410229813.8A CN103978489A (en) | 2013-07-21 | 2014-05-27 | Pneumatic gripper mechanical arm |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201310310893 CN103372971A (en) | 2013-07-21 | 2013-07-21 | Pneumatic pawl manipulator |
| CN201310310893.5 | 2013-07-21 | ||
| CN201410229813.8A CN103978489A (en) | 2013-07-21 | 2014-05-27 | Pneumatic gripper mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103978489A true CN103978489A (en) | 2014-08-13 |
Family
ID=49459099
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201310310893 Pending CN103372971A (en) | 2013-07-21 | 2013-07-21 | Pneumatic pawl manipulator |
| CN201410229813.8A Pending CN103978489A (en) | 2013-07-21 | 2014-05-27 | Pneumatic gripper mechanical arm |
| CN201420277674.1U Expired - Fee Related CN203843850U (en) | 2013-07-21 | 2014-05-27 | Pneumatic gripper mechanical arm |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201310310893 Pending CN103372971A (en) | 2013-07-21 | 2013-07-21 | Pneumatic pawl manipulator |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420277674.1U Expired - Fee Related CN203843850U (en) | 2013-07-21 | 2014-05-27 | Pneumatic gripper mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN103372971A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308064A (en) * | 2014-10-17 | 2015-01-28 | 济南奥图自动化工程有限公司 | Novel steel rail conveying manipulator |
| CN109015064A (en) * | 2018-09-17 | 2018-12-18 | 湖北汉唐智能科技股份有限公司 | A kind of automobile engine crankshaft positioning centering mechanism |
| WO2019104792A1 (en) * | 2017-11-28 | 2019-06-06 | 昆山斯比得自动化设备有限公司 | Removal device |
| CN111496763A (en) * | 2020-04-27 | 2020-08-07 | 华中科技大学 | Multi-degree-of-freedom rotary mechanical claw clamping device based on cross sliding table |
| CN112092006A (en) * | 2020-09-29 | 2020-12-18 | 北京美之钥商贸有限公司 | Plastic bottle injection mold opening and part taking manipulator |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103372971A (en) * | 2013-07-21 | 2013-10-30 | 台州迈格机械模具有限公司 | Pneumatic pawl manipulator |
| CN103802122A (en) * | 2014-02-28 | 2014-05-21 | 深圳市华龙精密模具有限公司 | Mechanical arm structure of rib-cutting forming device |
| CN104908028A (en) * | 2015-06-20 | 2015-09-16 | 苏州蓝王机床工具科技有限公司 | Mechanical tongs for bottle products |
| CN105058386A (en) * | 2015-08-12 | 2015-11-18 | 四川迈克生物医疗电子有限公司 | Tongs, reaction tube gripping device and analysis instrument |
| CN106426231A (en) * | 2016-09-30 | 2017-02-22 | 浙江大学常州工业技术研究院 | Gripper for gripping material-taking structure |
| CN106514682A (en) * | 2016-12-29 | 2017-03-22 | 苏州匠博智能科技有限公司 | Puncture clamping jaw |
| CN107932537A (en) * | 2017-12-21 | 2018-04-20 | 广州盛原成自动化科技有限公司 | Gripping structure and gripper of industrial robot |
| CN115106552A (en) * | 2022-06-23 | 2022-09-27 | 驰逸自动化科技(苏州)有限公司 | Precision machining equipment for hard turning machine special-shaped alloy and working method thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4519279A (en) * | 1981-09-16 | 1985-05-28 | Stefano Ruggeri | Selfcentering work-rest |
| US4805951A (en) * | 1986-10-22 | 1989-02-21 | Ab Asea-Atom | Gripping mechanism |
| US5040836A (en) * | 1988-04-26 | 1991-08-20 | Roudaut Philippe L R | Electrically operated pincers with magnetic retention |
| JPH0911175A (en) * | 1995-06-26 | 1997-01-14 | Plus Eng:Kk | Hand device of industrial robot |
| US20030197389A1 (en) * | 1998-08-04 | 2003-10-23 | Moilanen Steven M. | Modular stamped parts transfer gripper |
| CN203843850U (en) * | 2013-07-21 | 2014-09-24 | 台州迈格机械模具有限公司 | Pneumatic gripper mechanical arm |
-
2013
- 2013-07-21 CN CN 201310310893 patent/CN103372971A/en active Pending
-
2014
- 2014-05-27 CN CN201410229813.8A patent/CN103978489A/en active Pending
- 2014-05-27 CN CN201420277674.1U patent/CN203843850U/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4519279A (en) * | 1981-09-16 | 1985-05-28 | Stefano Ruggeri | Selfcentering work-rest |
| US4805951A (en) * | 1986-10-22 | 1989-02-21 | Ab Asea-Atom | Gripping mechanism |
| US5040836A (en) * | 1988-04-26 | 1991-08-20 | Roudaut Philippe L R | Electrically operated pincers with magnetic retention |
| JPH0911175A (en) * | 1995-06-26 | 1997-01-14 | Plus Eng:Kk | Hand device of industrial robot |
| US20030197389A1 (en) * | 1998-08-04 | 2003-10-23 | Moilanen Steven M. | Modular stamped parts transfer gripper |
| CN203843850U (en) * | 2013-07-21 | 2014-09-24 | 台州迈格机械模具有限公司 | Pneumatic gripper mechanical arm |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104308064A (en) * | 2014-10-17 | 2015-01-28 | 济南奥图自动化工程有限公司 | Novel steel rail conveying manipulator |
| WO2019104792A1 (en) * | 2017-11-28 | 2019-06-06 | 昆山斯比得自动化设备有限公司 | Removal device |
| CN109015064A (en) * | 2018-09-17 | 2018-12-18 | 湖北汉唐智能科技股份有限公司 | A kind of automobile engine crankshaft positioning centering mechanism |
| CN109015064B (en) * | 2018-09-17 | 2024-04-05 | 湖北汉唐智能科技股份有限公司 | Automobile engine crankshaft positioning and centering mechanism |
| CN111496763A (en) * | 2020-04-27 | 2020-08-07 | 华中科技大学 | Multi-degree-of-freedom rotary mechanical claw clamping device based on cross sliding table |
| CN112092006A (en) * | 2020-09-29 | 2020-12-18 | 北京美之钥商贸有限公司 | Plastic bottle injection mold opening and part taking manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN203843850U (en) | 2014-09-24 |
| CN103372971A (en) | 2013-10-30 |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140813 |