CN105128007A - Pneumatic gripper mechanism and gripping method thereof - Google Patents

Pneumatic gripper mechanism and gripping method thereof Download PDF

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Publication number
CN105128007A
CN105128007A CN201510504007.1A CN201510504007A CN105128007A CN 105128007 A CN105128007 A CN 105128007A CN 201510504007 A CN201510504007 A CN 201510504007A CN 105128007 A CN105128007 A CN 105128007A
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CN
China
Prior art keywords
cylinder
finger
piston rod
mounting plate
hinged
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510504007.1A
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Chinese (zh)
Inventor
蒋立军
邵金金
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
WUHU TOMAN PRECISION MACHINERY TECHNOLOGY Co Ltd
Original Assignee
WUHU TOMAN PRECISION MACHINERY TECHNOLOGY Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by WUHU TOMAN PRECISION MACHINERY TECHNOLOGY Co Ltd filed Critical WUHU TOMAN PRECISION MACHINERY TECHNOLOGY Co Ltd
Priority to CN201510504007.1A priority Critical patent/CN105128007A/en
Publication of CN105128007A publication Critical patent/CN105128007A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a pneumatic gripper mechanism and a gripping method thereof. The pneumatic gripper mechanism comprises a finger I and a finger II which correspond to each other, and further comprises a fixing installing plate and air cylinders arranged on the fixing installing plate, and the finger I is hinged to the finger II through a finger rotating shaft arranged on the fixing installing plate. The air cylinders include the air cylinder I and the air cylinder II, piston rods of the air cylinder I and the air cylinder II are hinged to the same ends of the two fingers respectively, and electromagnetic valves used for controlling the air cylinders to work are arranged on the fixing installing plate. The structure is simple, thrust of the air cylinders is converted into clamping force, pieces are reliably grabbed, the air cylinders are convenient to control, the pieces are accurately and stably grabbed and released, operation is easy and convenient, the movement performance is good, and cost is low.

Description

A kind of Pneumatic paw mechanism and grasping means thereof
Technical field
The present invention relates to technical field of automation equipment, especially relate to a kind of Pneumatic paw mechanism and grasping means thereof.
Background technology
Along with developing rapidly of modern industry, the production automation has become outstanding theme, and in the industry such as processing, carrying, assembling, a lot of station is the pick-up operation of workpiece.During as hot-forging forming, bad environments, this operation generally needs flexible movements, simple and reliable, and repeatability is large, just address that need at present, devise many manipulators, due to complex structure, capture and release workpiece process in steadily not accurate enough, complex operation, Practical Performance is poor.
Summary of the invention
Not enough for prior art, technical problem to be solved by this invention is to provide a kind of Pneumatic paw mechanism and grasping means thereof, and its structure is simple, easy and simple to handle.
In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:
A kind of Pneumatic paw mechanism, comprise corresponding finger I and finger II, also comprise mounting plate and be located at the cylinder on mounting plate, be hinged by the finger rotating shaft be located on mounting plate between described finger I and finger II, described cylinder comprises cylinder I and cylinder II, the piston rod of cylinder I and cylinder II is pointed with two respectively and is hinged with one end, and described mounting plate is provided with the magnetic valve for control cylinder work.
Described mounting plate is T-shaped plate structure, and described finger rotating shaft is located on T-shaped plate structure bossing, and cylinder I and cylinder II are located on T-shaped plate structure two projecting end respectively.
Also comprise connecting rod, described connecting rod one end is connected with the end of piston rod, and the connecting rod other end is hinged with finger one end.
Described mounting plate is provided with a pair gripper shoe controlling finger upper-lower position.
Described cylinder I and cylinder II are oppositely arranged, and cylinder I and cylinder II are all positioned at the both sides of finger hinged end.
The two ends of described a pair gripper shoe are all connected by limited block, point between two limited blocks.
Utilize a grasping means for described Pneumatic paw mechanism, comprise the following steps:
1) by solenoid control two cylinder operation, the piston rod of two cylinders stretches out respectively simultaneously, and the piston rod of two cylinders drives two to point thorny finger axis of rotation, and two grasping ends pointed are opened;
2) when the object for clamping enters the crawl scope of two fingers, under the control of magnetic valve, the piston rod indentation simultaneously respectively of two cylinders, the piston rod of cylinder drives two to point thorny finger axis of rotation, two grasping ends pointed are closed, clamps object.
The present invention compared with prior art, has the following advantages: structure simply, changes clamping force into by the thrust of cylinder, and workpiece grabbing is reliable, and cylinder is convenient to control, and capture and discharge workpiece accurately steadily, easy and simple to handle, Windsor, cost is low.
Accompanying drawing explanation
Below the content expressed by each width accompanying drawing of this description and the mark in figure are briefly described:
Fig. 1 is Pneumatic paw structural scheme of mechanism one of the present invention.
Fig. 2 is Pneumatic paw structural scheme of mechanism two of the present invention.
In figure: 1. adjustment block, 2. finger I, 3. finger II, 4. finger rotating shaft, 5. mounting plate, 6. cylinder I, 7. gripper shoe, 8. piston rod I, 9. connecting rod I, 10. the connecting rod rotating shaft II of connecting rod rotating shaft I, 11. cylinder II, 12. piston rod II, 13. connecting rod II, 14..
Detailed description of the invention
Contrast accompanying drawing below, by the description to embodiment, the specific embodiment of the present invention is described in further detail.
As depicted in figs. 1 and 2, this Pneumatic paw mechanism, comprise finger I 2, finger II 3, finger rotating shaft 4, mounting plate 5, cylinder I 6, cylinder II 11, gripper shoe 7, wherein, mounting plate 5 is T-shaped plate structure, finger rotating shaft is located on T-shaped plate structure bossing, and cylinder I and cylinder II are located on T-shaped plate structure two projecting end respectively.
Point I 2 to be oppositely arranged with finger II 3, be hinged by the finger rotating shaft 4 be located on mounting plate between finger I and finger II.
Cylinder I 6 and cylinder II 11 are oppositely arranged, and the end of the piston rod I 8 of cylinder I is connected with connecting rod I 9 one end, and connecting rod I other end is hinged by connecting rod rotating shaft I 10 with finger I one end; The end of the piston rod II 12 of cylinder II 11 is connected with connecting rod II 13 one end, and connecting rod II other end is hinged by connecting rod rotating shaft II 14 with finger II one end.
Pointing I 2 with the hinged end at finger II 3 both ends is same side, and namely two cylinders and two piston rods are arranged on the same line, and cylinder I and cylinder II are all positioned at the both sides of finger hinged end; The other end of two fingers is grasping end.
Point I 2 and be arcuate structure with the grasping end of finger II 3, be convenient to the object of snatching cylindrical; And be equipped with adjustment block 1 at the grasping end of finger I and finger II, adjustment block is fixed by screws in finger inner side, can change after damage, wherein, adjustment block can by the profile manufacture capturing thing, improve the reliability of clamping, make two to capture finger by adjustment block and directly do not contact with high temp objects, improve service life and the adaptability of paw.
Connecting rod is hollow connecting rod, and when capturing high temp objects by Pneumatic paw mechanism, the poor thermal conductivity of connecting rod, prevents high temperature from affecting cylinder.
Mounting plate is provided with a pair gripper shoe 7 controlling finger upper-lower position, and a pair gripper shoe is between finger rotating shaft and finger hinged end, and the two ends of a pair gripper shoe are all connected by limited block, point between two limited blocks.By the gripper shoe of upper and lower position and the limited block opponent fingering row of both sides spacing, improve the accuracy of finger grip and reliability.
Mounting plate is provided with the magnetic valve for control cylinder work, can control two cylinder synchronous workings, improve the reliability captured by magnetic valve.
The grasping means utilizing Pneumatic paw mechanism to capture object comprises the following steps:
By solenoid control two cylinder operation, the piston rod of two cylinders stretches out respectively simultaneously, and the piston rod of two cylinders drives two to point thorny finger axis of rotation, and two grasping ends pointed are opened;
When the object for clamping enters the crawl scope of two fingers, under the control of magnetic valve, the piston rod indentation simultaneously respectively of two cylinders, the piston rod of cylinder drives two to point thorny finger axis of rotation, two grasping ends pointed is closed, clamps object.
Above by reference to the accompanying drawings to invention has been exemplary description; obvious specific implementation of the present invention is not subject to the restrictions described above; as long as have employed the improvement of the various unsubstantialities that design of the present invention and technical scheme are carried out; or design of the present invention and technical scheme directly applied to other occasion, all within protection scope of the present invention without to improve.

Claims (7)

1. a Pneumatic paw mechanism, comprise corresponding finger I and finger II, it is characterized in that: also comprise mounting plate and be located at the cylinder on mounting plate, be hinged by the finger rotating shaft be located on mounting plate between described finger I and finger II, described cylinder comprises cylinder I and cylinder II, the piston rod of cylinder I and cylinder II is pointed with two respectively and is hinged with one end, and described mounting plate is provided with the magnetic valve for control cylinder work.
2. Pneumatic paw mechanism as claimed in claim 1, it is characterized in that: described mounting plate is T-shaped plate structure, described finger rotating shaft is located on T-shaped plate structure bossing, and cylinder I and cylinder II are located on T-shaped plate structure two projecting end respectively.
3. Pneumatic paw mechanism as claimed in claim 1, it is characterized in that: also comprise connecting rod, described connecting rod one end is connected with the end of piston rod, and the connecting rod other end is hinged with finger one end.
4. Pneumatic paw mechanism as claimed in claim 1, is characterized in that: described mounting plate is provided with a pair gripper shoe controlling finger upper-lower position.
5. Pneumatic paw mechanism as claimed in claim 1, is characterized in that: described cylinder I and cylinder II are oppositely arranged, and cylinder I and cylinder II are all positioned at the both sides of finger hinged end.
6. Pneumatic paw mechanism as claimed in claim 4, is characterized in that: the two ends of described a pair gripper shoe are all connected by limited block, point between two limited blocks.
7. utilize a grasping means for Pneumatic paw mechanism as described in any one of claim 1 to 6, it is characterized in that: described grasping means comprises the following steps:
1) by solenoid control two cylinder operation, the piston rod of two cylinders stretches out respectively simultaneously, and the piston rod of two cylinders drives two to point thorny finger axis of rotation, and two grasping ends pointed are opened;
2) when the object for clamping enters the crawl scope of two fingers, under the control of magnetic valve, the piston rod indentation simultaneously respectively of two cylinders, the piston rod of cylinder drives two to point thorny finger axis of rotation, two grasping ends pointed are closed, clamps object.
CN201510504007.1A 2015-08-17 2015-08-17 Pneumatic gripper mechanism and gripping method thereof Pending CN105128007A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510504007.1A CN105128007A (en) 2015-08-17 2015-08-17 Pneumatic gripper mechanism and gripping method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510504007.1A CN105128007A (en) 2015-08-17 2015-08-17 Pneumatic gripper mechanism and gripping method thereof

Publications (1)

Publication Number Publication Date
CN105128007A true CN105128007A (en) 2015-12-09

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CN201510504007.1A Pending CN105128007A (en) 2015-08-17 2015-08-17 Pneumatic gripper mechanism and gripping method thereof

Country Status (1)

Country Link
CN (1) CN105128007A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109778760A (en) * 2017-09-05 2019-05-21 郑州搜趣信息技术有限公司 A kind of urban construction high-mechanic intensity environmental sanitation tool

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0890475A (en) * 1994-09-22 1996-04-09 Sekisui Chem Co Ltd Cargo handling robot hand
CN201720848U (en) * 2010-05-14 2011-01-26 上海普莱克斯自动设备制造有限公司 Built-in two-claw tongs of air cylinder
CN102515016A (en) * 2011-12-28 2012-06-27 大连华锐重工集团股份有限公司 Automatic gripper for storage barrel
CN103448067A (en) * 2012-06-04 2013-12-18 盐城市昱博自动化设备有限公司 Manipulator clamp device used for motor stator assembly
CN203510237U (en) * 2013-09-30 2014-04-02 上海品冠塑胶工业有限公司 Simple mechanical clamp arm
CN104227712A (en) * 2013-06-20 2014-12-24 盐城市昱博自动化设备有限公司 Intelligent manipulator clamp device
CN204183566U (en) * 2014-08-26 2015-03-04 何定 A kind of manipulator
CN204366982U (en) * 2015-01-12 2015-06-03 温州乐控节能科技有限公司 A kind of manipulator
CN204819526U (en) * 2015-08-17 2015-12-02 芜湖陀曼精机科技有限公司 Pneumatic hand claw mechanism

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0890475A (en) * 1994-09-22 1996-04-09 Sekisui Chem Co Ltd Cargo handling robot hand
CN201720848U (en) * 2010-05-14 2011-01-26 上海普莱克斯自动设备制造有限公司 Built-in two-claw tongs of air cylinder
CN102515016A (en) * 2011-12-28 2012-06-27 大连华锐重工集团股份有限公司 Automatic gripper for storage barrel
CN103448067A (en) * 2012-06-04 2013-12-18 盐城市昱博自动化设备有限公司 Manipulator clamp device used for motor stator assembly
CN104227712A (en) * 2013-06-20 2014-12-24 盐城市昱博自动化设备有限公司 Intelligent manipulator clamp device
CN203510237U (en) * 2013-09-30 2014-04-02 上海品冠塑胶工业有限公司 Simple mechanical clamp arm
CN204183566U (en) * 2014-08-26 2015-03-04 何定 A kind of manipulator
CN204366982U (en) * 2015-01-12 2015-06-03 温州乐控节能科技有限公司 A kind of manipulator
CN204819526U (en) * 2015-08-17 2015-12-02 芜湖陀曼精机科技有限公司 Pneumatic hand claw mechanism

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109778760A (en) * 2017-09-05 2019-05-21 郑州搜趣信息技术有限公司 A kind of urban construction high-mechanic intensity environmental sanitation tool

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Application publication date: 20151209