CN108818578A - A kind of pneumatic gripping device and the clamping jaw device with the device - Google Patents
A kind of pneumatic gripping device and the clamping jaw device with the device Download PDFInfo
- Publication number
- CN108818578A CN108818578A CN201810614428.3A CN201810614428A CN108818578A CN 108818578 A CN108818578 A CN 108818578A CN 201810614428 A CN201810614428 A CN 201810614428A CN 108818578 A CN108818578 A CN 108818578A
- Authority
- CN
- China
- Prior art keywords
- push rod
- pendular
- gripping device
- pneumatic gripping
- fixing seat
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses a kind of pneumatic gripping device and with the clamping jaw device of the device, pneumatic gripping device includes fixed body, pendular body, rocker arm, push rod and adjusting component；A pair of of pendular body has in the pendular body mounting groove being symmetrically articulated on fixed body in gap；The median plane that pendular body mounting groove length direction is corresponded on fixed body has push rod installation cavity, there is intercommunicating pore between push rod installation cavity and pendular body mounting groove, and push rod installation cavity is connected to compressed gas source；Push rod is T-shaped piece, and including the body of rod with plate body and plate body side center position, plate body is located in push rod installation cavity, and the body of rod is inserted into two pendular bodies across intercommunicating pore, and the rocker arm connecting respectively with pendular body is symmetrically connected on the body of rod；The adjusting component that push rod stroke can be limited positioned at the external side of push rod is connected on fixed body.Push rod and rocker arm swing pendular body, and the position of limited block limits push rod stroke, the angle between two pendular body of push rod Traffic control system.The present apparatus is used cooperatively with clip claw assembly.
Description
Technical field
The present invention relates to a kind of clamping devices, and in particular to a kind of pneumatic gripping device and the clamping jaw dress with the device
It sets.
Background technique
A kind of metal cone bucket class product needs to carry out multiple hot extrusion molding, and the product is more by multiple working procedure from cylinder
Secondary extruding is conical, and the outer dimension and appearance profile of each procedure are all different, and difference is very big, and every procedure squeezes
It needs to be heated to 300 ° or more before pressure in heating furnace, and is come out to before hydraulic press is squeezed from heating furnace and need to immerse profit
It is lubricated in lubrication prescription, the lubricating oil of the product surface adhesion by lubrication generates flame since high temperature can burn.
After hydraulic press squeezes, product is ejected the jacking apparatus of hydraulic press product from lower die, but stretches out oil pressure
The part of machine lower die upper surface is seldom, and state of the workpiece in lower die is inclined at this time, and inclined direction is in 360 degree of models
It is arbitrary in enclosing, and what is be exposed is cone, is difficult to operate so workpiece is clamped from lower die and is come out.
And the type product variety is more, every kind of product outline size and profile are all different.
The product is squeezed from heating furnace to lubrication, then to hydraulic press at present, is taken out from hydraulic press, is all passed through
Manually clamped with elongated fire tongs.Lower die heating keeps high temperature to hydraulic press in extrusion process, since working environment is in height
Temperature is simultaneously accompanied by flame, easily causes safety accident in this way, and can generate a large amount of smog when flame combustion and extruding,
It works in this environment for a long time and seriously affects health.
Summary of the invention
The main purpose of the present invention is to provide a kind of pneumatic gripping devices that can provide flexible clamping power, for flexible clamping jaw
Power is provided, flexible clamping jaw is enable to be transferred to different treatment process according to workpiece size, form adaptive clamping workpiece.
This kind of pneumatic gripping device provided by the invention, including fixed body, pendular body, rocker arm, push rod and adjusting group
Part；Pendular body has a pair, they have in the pendular body mounting groove being symmetrically articulated on fixed body in gap；Corresponding pendulum on fixed body
The median plane of kinetoplast mounting groove length direction has push rod installation cavity, has intercommunicating pore between push rod installation cavity and pendular body mounting groove,
Push rod installation cavity is connected to compressed gas source；Push rod is T-shaped piece, including the body of rod with plate body and plate body side center position, plate body
In push rod installation cavity, size is matched with push rod installation cavity, and the body of rod is inserted into two pendular bodies across intercommunicating pore, right on the body of rod
Title is connected with the rocker arm connecting respectively with pendular body；Push rod stroke can be limited positioned at the external side of push rod by being connected on fixed body
Adjust component.
The fixed body is rectangular part, and the pendular body mounting groove is rectangular channel, is located on its width direction median plane；
The shape of the push rod installation cavity is cylinder, and the middle position of pendular body mounting groove two sidewalls length direction offers rectangle
Groove.
The outer upper of the pendular body is hinged by pin shaft and the fixed body, and the interior lateral margin of pendular body is to be with pin shaft
Groove for connecting the rocker arm is arranged at the arcwall face at center, the interior lateral margin top of pendular body, and groove is inclined U from top to bottom
Type groove.
The rocker arm be U-shaped arm, the yoke plate including upper articulated shaft, lower articulated shaft and two articulated shaft ends, upper articulated shaft with
The push rod is hinged, and lower articulated shaft is articulated in the pendular body in the groove on lateral margin top, and yoke plate, which is located on fixed body, to be swung
Body is installed in the rectangular recess of groove sidewall.
The adjusting component includes fixing seat, limited block, adjusts bolt and lock nut, and limited block can slide up and down embedding
Middle position loaded on fixing seat adjusts the threaded hole that screw passes through in fixing seat and connect with limited block, locking nut locking
In being corresponded at threaded hole in fixing seat.
The fixing seat is rectangle seat, and there is boss at center position both ends, and axial centre is offered for installing limit
The sliding slot of position block and threaded hole for connect adjusting screw, locking nut lock onto fixing seat lower end and corresponds at threaded hole.
The downside of the limited block corresponds to and offers corresponding groove at the boss of fixing seat upper end, and limited block insertion is fixed
Entity bottom surface in seat upper hopper chute offers lateral T-slot, and adjusting screw is T-type screw, and the T on limited block is inserted on head
In type groove, bar portion in fixing seat threaded hole and locking nut connect.
The fixing seat is connected on the fixed body, median plane of the limited block between two pendular body lower parts
On.
The side wall of the fixed body is equipped with magnetic sensor.
The invention also discloses a kind of Pneumatic clamping jaw device, including power device and clip claw assembly, power device is aforementioned
Pneumatic gripping device, clip claw assembly are connected to the front end of pneumatic gripping device pendular body, by clip claw assembly can clamp it is cylindrical,
The cone bucket shape workpiece that conical workpieces or cylindrical and cone combination are formed.
A pair of of pendular body of this pneumatic gripping device is articulated on fixed body, realizes pendular body by push rod and rocker arm
It swings, the stroke of push rod is limited by adjusting the position for adjusting component limited block, two swings are adjusted by the stroke of push rod
Angle between body.When the pendular body of the present apparatus and clip claw assembly assembly are applied on mechanical arm, clip claw assembly can be enable
Adjust angle at any time to clamp cylindrical, cone or the cylindrical and conical cone bucket class workpiece transfer being combined into difference
Treatment process is realized automation, will manually be freed.
Detailed description of the invention
Fig. 1 is the schematic cross-sectional view of one embodiment of the invention.
Fig. 2 is the schematic top plan view of Fig. 1.
Fig. 3 is the elevational schematic view of Fig. 1.
Fig. 4 is the schematic side view of Fig. 1.
Fig. 5 is the axis side schematic diagram of Fig. 1.
Fig. 6 is an axis side schematic diagram of fixed body in Fig. 1.
Fig. 7 is another axis side schematic diagram of fixed body in Fig. 1.
Fig. 8 is the enlarged diagram of rocker arm in Fig. 1.
Fig. 9 is the schematic side view of Fig. 8.
Figure 10 is the enlarged diagram that component is adjusted in Fig. 1.
Figure 11 is the enlarged structure schematic diagram of fixing seat in Figure 10.
Figure 12 is the axis side structure schematic diagram of limited block in Figure 10.
Figure 13 is the axis side structure schematic diagram for adjusting component.
Specific embodiment
This pneumatic gripping device disclosed in the present embodiment, including fixed body 1, pendular body 2, push rod 3, Rocker arm 4, adjusting group
Part 5.The present embodiment is particularly suitable for the application in guided missile head shell production process.
Can be seen that fixed body 1 in conjunction with Fig. 1 to Fig. 7 is rectangular part, is offered on the width direction median plane of its underpart
Cylindrical push rod installation cavity 12 is arranged at the length direction median plane top of pendular body mounting groove 11, corresponding pendular body mounting groove, pushes away
It is connected between bar installation cavity and pendular body mounting groove by the circular hole that diameter is less than push rod installation cavity diameter, the top surface of fixed body 1
End cap 7 is connected at corresponding push rod installation cavity.The middle position of the two sidewalls length direction of pendular body mounting groove offers square
Connected in star.
Can be seen that pendular body 2 in conjunction with Fig. 1 to Fig. 7 has a pair, they have symmetrically being articulated on fixed body 1 for gap
In pendular body mounting groove 11.
It will be seen from figure 1 that the outer upper of pendular body 2 is hinged by pin shaft 6 and fixed body 1, the interior lateral margin of pendular body 2
For the arcwall face centered on pin shaft 6, the groove 21 for connecting rocker arm 4 is arranged at the interior lateral margin top of pendular body 2, and groove is from upper
Inclined U-type groove down.
It will be seen from figure 1 that push rod 3 is T-shaped piece, including plate body and positioned at the body of rod of center position on the downside of plate body, plate
Body is to install the matched circular slab of chamber size, circle of the body of rod across push rod installation cavity 12 and pendular body mounting groove 11 with push rod
Hole is inserted between two pendular bodies 2.
Can be seen that Rocker arm 4 in conjunction with Fig. 1, Fig. 8 and Fig. 9 is U-shaped arm, including upper articulated shaft 41, lower articulated shaft 42 and two hinges
The yoke plate 43 of spindle end.Upper articulated shaft 41 is hinged with push rod 3, and lower articulated shaft 42 is articulated with the recessed of lateral margin top in pendular body 2
In slot 21, yoke plate is located on fixed body in the rectangular recess of pendular body installation groove sidewall.Upper articulated shaft 41 and lower articulated shaft 42 are equal
It can be around its hinged center rotating.
Can be seen that in conjunction with Fig. 1, Figure 10 to Figure 13 and adjust component 5 includes fixing seat 51, limited block 52, adjusting screw 53
With locking nut 54.Fixing seat 51 is rectangle seat, and there is boss at center position both ends, and axial centre is offered for installing
The sliding slot of limited block 52 and for connect adjust screw 53 threaded hole.Locking nut 54 lock onto 51 lower end of fixing seat and corresponds to spiral shell
At pit.
The downside of limited block 52 corresponds to and offers corresponding groove at the boss of 51 upper end of fixing seat.The insertion of limited block 52 is solid
Entity bottom surface in 51 upper hopper chute of reservation offers lateral T-slot, and adjusting screw 53 is T-type screw, head insertion limit
In T-slot on block, bar portion in fixing seat 51 threaded hole and locking nut 54 connect.
Fixing seat 51 is installed on the length direction median plane of 1 downside of fixed body by screw.Component 5 is adjusted to install
Afterwards, on median plane of the limited block 52 between two pendular bodies, 2 lower part.
The connecting hole of connection clamping jaw is reserved in fixing seat.
The working principle of pneumatic gripping device is as follows：To compressed gas is passed through in the push rod installation cavity on fixed body, compress
Gas is pressed down push rod by the plate body of push rod, and push rod moves down swings rocker arm simultaneously two pendular bodies toward extrapolation, two
Body opens, until the angle between two pendular bodies is greater than the outer dimension of clamping workpiece.When push rod goes downwards to bottom, push rod
Bottom withstand adjust component limited block upper surface, change the upper and lower position of limited block by adjusting T-type screw, thus
The Bottom Runby of push rod is limited, and then limits the opening angle of clip claw assembly.When preparing clamping workpiece after two pendular bodies opening,
Lead to compressed gas into the push rod installation cavity of push rod plate body lower part, compressed gas is up pushed up push rod by the plate body of push rod, together
When push rod plate body top push rod installation cavity in compressed gas discharge, the upward return of push rod collapses two rocker arms, and rocker arm drives two
Pendular body collapses.
Clip claw assembly is connected to the front end of pneumatic gripping device pendular body, the fixed body of pneumatic gripping device is connected to
In application, driving the opening of clip claw assembly and gathering that can transport circle between different disposal process by pendular body on mechanical arm
Cylindricality and/cone/cylindrical cone bucket shape workpiece being combined into cone.
Clamping jaw can also be limited by installing magnetic sensor in the magnetic sensor mounting groove 13 of fixed body sidewall
The opening angle of component and angle when closing up, i.e., limited the downlink extreme position of push rod by a magnetic sensor, passed through
Another magnetic sensor limits the uplink extreme position of push rod.
The chucking power that this pneumatic gripping device provides is that flexibility is adjustable, so clip claw assembly can be according to the size of workpiece
It carries out that adaptively, i.e., the workpiece of arbitrary dimension can be grabbed within the scope of certain size；And it can adapt to a variety of different shapes
The workpiece of profile, and the smooth conical workpieces in surface can be grabbed；The crawl position that can adapt to robot is that system setting is solid
It is fixed constant, but the position of workpiece is arbitrary in a certain range around set fixation position.
Claims (10)
1. a kind of pneumatic gripping device, it is characterised in that：It includes fixed body, pendular body, rocker arm, push rod and adjusts component；Pendulum
Kinetoplast has a pair, they have in the pendular body mounting groove being symmetrically articulated on fixed body in gap；Pendular body is corresponded on fixed body
The median plane of mounting groove length direction has push rod installation cavity, there is intercommunicating pore, push rod between push rod installation cavity and pendular body mounting groove
Installation cavity is connected to compressed gas source；Push rod is T-shaped piece, and including the body of rod with plate body and plate body side center position, plate body is located at
In push rod installation cavity, size is matched with push rod installation cavity, and the body of rod is inserted into two pendular bodies across intercommunicating pore, is symmetrically connected on the body of rod
It is connected to the rocker arm connecting respectively with pendular body；The adjusting that push rod stroke can be limited positioned at the external side of push rod is connected on fixed body
Component.
2. a kind of pneumatic gripping device as described in claim 1, it is characterised in that：The fixed body is rectangular part, described
Pendular body mounting groove is rectangular channel, is located on its width direction median plane；The shape of the push rod installation cavity is cylinder, is swung
The middle position of body mounting groove two sidewalls length direction offers rectangular recess.
3. a kind of pneumatic gripping device as claimed in claim 2, it is characterised in that：The outer upper of the pendular body passes through pin
Axis and the fixed body are hinged, and the interior lateral margin of pendular body is the arcwall face centered on pin shaft, and the interior lateral margin top of pendular body has
For connecting the groove of the rocker arm, groove is inclined U-type groove from top to bottom.
4. a kind of pneumatic gripping device as claimed in claim 3, it is characterised in that：The rocker arm is U-shaped arm, including upper hinged
The yoke plate of axis, lower articulated shaft and two articulated shaft ends, upper articulated shaft and the push rod are hinged, and lower articulated shaft is articulated with the swing
In the groove on internal lateral margin top, yoke plate is located on fixed body in the rectangular recess of pendular body installation groove sidewall.
5. a kind of pneumatic gripping device as claimed in claim 2, it is characterised in that：The adjusting component includes fixing seat, limit
Position block adjusts bolt and lock nut, and limited block can slide up and down flush-mounted in the middle position of fixing seat, adjusts screw and wears
The threaded hole crossed in fixing seat is connect with limited block, and locking nut is welded in fixing seat and corresponds at threaded hole.
6. a kind of pneumatic gripping device as claimed in claim 5, it is characterised in that：The fixing seat is rectangle seat, center
There is boss at both ends at position, and axial centre offers the sliding slot for installing limited block and the screw thread for connecting adjusting screw
Hole, locking nut lock onto fixing seat lower end and correspond at threaded hole.
7. a kind of pneumatic gripping device as claimed in claim 6, it is characterised in that：The downside of the limited block corresponds to fixing seat
Corresponding groove is offered at the boss of upper end, the entity bottom surface in limited block insertion fixing seat upper hopper chute offers lateral T
Type groove, adjusting screw are T-type screw, and head is inserted into the T-slot on limited block, the threaded hole and lock in bar portion and fixing seat
Tight nut connection.
8. a kind of pneumatic gripping device as claimed in claim 7, it is characterised in that：The fixing seat is connected to the fixed body
On, the limited block is on the median plane between two pendular body lower parts.
9. a kind of pneumatic gripping device as described in claim 1, it is characterised in that：The side wall installation of the fixed body is magnetic
Sensor.
10. a kind of Pneumatic clamping jaw device, it is characterised in that：It includes power device and clip claw assembly, and power device is wanted for right
Pneumatic gripping device described in asking 1, clip claw assembly are connected to the front end of pneumatic gripping device pendular body, can be pressed from both sides by clip claw assembly
Hold the cone bucket shape workpiece of cylindrical, conical workpieces or cylinder and cone combination formation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810614428.3A CN108818578A (en) | 2018-06-14 | 2018-06-14 | A kind of pneumatic gripping device and the clamping jaw device with the device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810614428.3A CN108818578A (en) | 2018-06-14 | 2018-06-14 | A kind of pneumatic gripping device and the clamping jaw device with the device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108818578A true CN108818578A (en) | 2018-11-16 |
Family
ID=64141889
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810614428.3A Pending CN108818578A (en) | 2018-06-14 | 2018-06-14 | A kind of pneumatic gripping device and the clamping jaw device with the device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108818578A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61191889U (en) * | 1985-05-24 | 1986-11-29 | ||
| EP0368777A1 (en) * | 1988-11-09 | 1990-05-16 | Philippe Robert Louis Roudaut | Pneumatic gripper |
| US6273485B1 (en) * | 1998-04-20 | 2001-08-14 | Gimatic S.P.A. | Parallel pneumatic gripper with body and jaws obtained from extruded elements |
| US20050046212A1 (en) * | 2003-08-29 | 2005-03-03 | Giuseppe Maffeis | Angular pneumatic gripper |
| CN103029055A (en) * | 2012-12-06 | 2013-04-10 | 周家莉 | Swinging clamping device |
| CN203437581U (en) * | 2013-08-09 | 2014-02-19 | 浙江正一机械有限公司 | Adjustable clamp mechanism capable of being turned over by 180 degrees of cold heading forming machine |
| CN103639743A (en) * | 2013-11-25 | 2014-03-19 | 重庆市璧山爱华有限责任公司 | Swinging clamping device |
| CN206123693U (en) * | 2016-10-13 | 2017-04-26 | 重庆中核工业自动化控制系统有限公司 | Mechanical clamping jaw |
| CN107685339A (en) * | 2017-08-29 | 2018-02-13 | 南阳理工学院 | A kind of mechanical grip for machine-building |
| CN208409896U (en) * | 2018-06-14 | 2019-01-22 | 湖南祥瑞智能机器有限公司 | A kind of pneumatic gripping device and the clamping jaw device with the device |
-
2018
- 2018-06-14 CN CN201810614428.3A patent/CN108818578A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61191889U (en) * | 1985-05-24 | 1986-11-29 | ||
| EP0368777A1 (en) * | 1988-11-09 | 1990-05-16 | Philippe Robert Louis Roudaut | Pneumatic gripper |
| US6273485B1 (en) * | 1998-04-20 | 2001-08-14 | Gimatic S.P.A. | Parallel pneumatic gripper with body and jaws obtained from extruded elements |
| US20050046212A1 (en) * | 2003-08-29 | 2005-03-03 | Giuseppe Maffeis | Angular pneumatic gripper |
| CN103029055A (en) * | 2012-12-06 | 2013-04-10 | 周家莉 | Swinging clamping device |
| CN203437581U (en) * | 2013-08-09 | 2014-02-19 | 浙江正一机械有限公司 | Adjustable clamp mechanism capable of being turned over by 180 degrees of cold heading forming machine |
| CN103639743A (en) * | 2013-11-25 | 2014-03-19 | 重庆市璧山爱华有限责任公司 | Swinging clamping device |
| CN206123693U (en) * | 2016-10-13 | 2017-04-26 | 重庆中核工业自动化控制系统有限公司 | Mechanical clamping jaw |
| CN107685339A (en) * | 2017-08-29 | 2018-02-13 | 南阳理工学院 | A kind of mechanical grip for machine-building |
| CN208409896U (en) * | 2018-06-14 | 2019-01-22 | 湖南祥瑞智能机器有限公司 | A kind of pneumatic gripping device and the clamping jaw device with the device |
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Effective date of registration: 20210201 Address after: 410205 Room 802, building 10, phase I, Changsha Zhongdian Software Park, No. 39, Jianshan Road, Changsha high tech Development Zone, Changsha City, Hunan Province Applicant after: CHINA POWER INDUSTRY INTERNET Co.,Ltd. Address before: Room 102, building 9, phase I, Changsha Zhongdian Software Park, No. 39, Jianshan Road, high tech Development Zone, Changsha City, Hunan Province, 410205 Applicant before: HUNAN SHARING INTELLIGENT MACHINES Co.,Ltd. |