CN111347450A - Two-claw cylinder clamping jaw mechanism for round piece - Google Patents
Two-claw cylinder clamping jaw mechanism for round piece Download PDFInfo
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- CN111347450A CN111347450A CN202010356141.2A CN202010356141A CN111347450A CN 111347450 A CN111347450 A CN 111347450A CN 202010356141 A CN202010356141 A CN 202010356141A CN 111347450 A CN111347450 A CN 111347450A
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- clamping jaw
- jaw
- gripper
- clamping
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- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 230000009471 action Effects 0.000 claims abstract description 10
- 230000008859 change Effects 0.000 claims abstract description 3
- 210000000078 claw Anatomy 0.000 claims description 10
- 238000003825 pressing Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
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- 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
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- 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
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a two-jaw cylinder clamping jaw mechanism for a round piece, which comprises a clamping jaw, wherein the clamping jaw consists of two clamping jaw bodies, the opposite surfaces of the two clamping jaw bodies are clamping surfaces, the clamping jaw bodies are respectively arranged on two action ends of a two-jaw cylinder, and the two-jaw cylinder drives the two clamping jaw bodies to change the relative distance between the clamping surfaces on the two clamping jaw bodies for clamping.
Description
Technical Field
The invention relates to the technical field of automation equipment, in particular to a two-claw cylinder clamping jaw mechanism for a round piece.
Background
The robot for precise automatic assembly and automatic feeding and discharging can meet the requirements of 'fast/large-batch processing takt', 'labor cost saving', 'production efficiency improvement' and the like, and becomes an ideal choice for more and more factories. The loading and unloading robot system has high efficiency and high stability, has a simple structure, is easy to maintain, can meet the production requirements of different products, can quickly adjust the product structure and expand the capacity for users, and can greatly reduce the labor intensity of industrial workers;
however, in some occasions, the requirement of circumferential or axial positioning is required simultaneously under the condition of meeting the requirement of concentricity clamping and positioning, corresponding force sensors or in-place detection switches are mostly adopted in the existing solutions, the hardware cost of the force sensors is high, software debugging is complex, if the in-place detection switches are used, the movement speed of equipment needs to be greatly reduced, and otherwise collision is easy to occur.
The invention provides a two-jaw cylinder clamping jaw mechanism for a round piece, which is used as a finger structure for precise automatic assembly and automatic robot feeding and is used for a circumferential sliding positioning clamping jaw or an axial sliding positioning clamping jaw of the round piece, has a simple and reliable structure, and does not need to be matched with electricity and software.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a two-claw cylinder clamping jaw mechanism for a round piece.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
the utility model provides a two claw cylinder clamping jaw mechanism for circle piece, includes the clamping jaw, the clamping jaw comprises two clamping jaw main parts, two the face that the clamping jaw main part is relative is for pressing from both sides the face of getting, the clamping jaw main part sets up respectively on two actions of two claw cylinders are served, and the relative distance that presss from both sides the face of getting on two clamping jaw main parts is changed by two claw cylinder drives and is grabbed the clamp.
Furthermore, the clamping surface is an arc surface with an inner groove, and a crescent groove is arranged on the clamping jaw body at the rear side of the clamping surface.
Furthermore, the radian of the crescent groove and the radian of the clamping surface are concentrically arranged.
Furthermore, a plurality of circumferential grooves are formed in the clamping surface, so that the circumference of the round piece can be conveniently positioned in a sliding manner.
Furthermore, a plurality of axial straight grooves are formed in the clamping surface, so that the round piece can be positioned in an axial sliding mode.
Furthermore, the clamping jaw main body is fixed on the action ends of the two-jaw air cylinder through a clamping jaw connecting block.
Furthermore, the clamping jaw main body is connected with a clamping jaw connecting block through a positioning pin bolt, and the clamping jaw connecting block is connected with the action ends of the two jaw cylinders.
Further, the clamping jaw is made of a high-elasticity modulus material.
The invention has the beneficial effects that:
the clamping jaw mechanism has high reliability, does not need to be matched with electricity and software, occupies less space due to the use of the two-jaw air cylinder, is suitable for a mechanism with narrow space, can replace a three-jaw or four-jaw air cylinder with high price and large occupied space in many occasions, ensures that the circumferential sliding positioning or the axial sliding positioning is simultaneously realized in the clamping process of the mechanism or a workpiece needing centering, and can be applied to various occasions such as precision automatic assembly, robot feeding and discharging and the like.
Drawings
FIG. 1 is a schematic view of a clamping jaw mechanism for circumferential sliding positioning according to the present invention;
fig. 2 is a schematic view of a jaw mechanism for axial sliding positioning according to the present invention.
The reference numbers in the figures illustrate: 1. clamping jaw, 11, clamping jaw main part, 12, press from both sides and get the face, 2, crescent groove, 3, clamping jaw connecting block, 4, two claw cylinders, 5 locating pin bolt.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The utility model provides a two claw cylinder clamping jaw mechanism for circle piece, includes clamping jaw 1, clamping jaw 1 comprises two clamping jaw main parts 11, two the face that clamping jaw main part 11 is relative is for pressing from both sides the face of getting 12, clamping jaw main part 11 sets up respectively on two actions of two claw cylinders 4 are served, and the relative distance of pressing from both sides the face of getting 12 is held by two claw cylinders 4 drives change on two clamping jaw main parts 11 and is grabbed the clamp.
The clamping surface 12 is a cambered surface with an inner groove, and a crescent 2 is arranged on the clamping jaw body 11 at the rear side of the clamping surface 12 and accords with the hand-tiger's mouth principle of a bionic human.
The radian of the crescent groove 2 and the radian of the clamping surface 12 are concentrically arranged.
As shown in fig. 1, the gripping surface 12 is provided with a plurality of circumferential grooves to facilitate circumferential sliding positioning of the round piece.
As shown in fig. 2, the gripping surface 12 is provided with a plurality of axial straight grooves, which have the same principle and structure as the ice skate blade, so as to facilitate the axial sliding and positioning of the round piece.
The clamping jaw body 11 is fixed on the action end of the two-jaw cylinder 4 through the clamping jaw connecting block 3.
The clamping jaw body 11 is connected with a clamping jaw connecting block 3 through a positioning pin bolt 5, and the clamping jaw connecting block 3 is connected with the action ends of the two jaw cylinders 4.
The clamping jaw 1 is made of a high elastic modulus material, and in the embodiment, a material such as resin, steel, alloy and the like can be used.
Principle of the invention
When a round workpiece is clamped, due to the manufacturing tolerance of the part, if the clamping jaw is manufactured by adopting an ideal value, the contact surface between the clamping jaw and the workpiece is extremely small, and when the clamping jaw with the structure is adopted, when the clamping jaw 1 is clamped and stressed, the crescent groove 2 is elastically deformed, so that the clamping surface 12 can be well and automatically attached to the surface of the workpiece and the workpiece is still kept centered. Because the workpiece needs to be further positioned when being placed on the equipment, the workpiece possibly needs to be circumferentially rotated for a certain angle or axially pushed tightly, and the clamping jaw 1 can adopt different clamping surfaces 12 structures according to the positioning mode of the workpiece; when a workpiece is placed in equipment and needs to be circumferentially slid and positioned, as shown in fig. 1, a clamping surface 12 with a plurality of circumferential grooves can be selected, so that the circular workpiece can be circumferentially slid conveniently; when the workpiece needs to be axially slid and positioned, as shown in fig. 2, a clamping surface 12 with a plurality of axial straight grooves can be selected, so that the circular workpiece can be axially slid conveniently.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a two claw cylinder clamping jaw mechanism for circle piece, includes clamping jaw (1), its characterized in that, clamping jaw (1) comprises two clamping jaw main parts (11), two the face that clamping jaw main part (11) are relative is for pressing from both sides and gets face (12), clamping jaw main part (11) set up respectively on two actions of two claw cylinders (4) are served, change two clamping jaw main parts (11) by two claw cylinders (4) drive and get the relative distance of pressing from both sides face (12) and grab the clamp.
2. The two-jaw cylinder gripper mechanism for round pieces according to claim 1, characterized in that the gripping surface (12) is a cambered surface with an inner groove, and a crescent groove (2) is arranged on the gripper body (11) at the rear side of the gripping surface (12).
3. A two jaw cylinder gripper mechanism for round pieces according to claim 2, characterized in that the arc of the crescent slot (2) is concentric with the arc of the gripping surface (12).
4. A two-jaw cylinder gripper mechanism for round pieces according to claim 2, wherein said gripping surface (12) is provided with a plurality of circumferential grooves to facilitate circumferential sliding positioning of the round piece.
5. A two-jaw cylinder gripper mechanism for round pieces according to claim 2, characterized in that said gripping surface (12) is provided with a plurality of axial straight grooves to facilitate the axial sliding positioning of the round piece.
6. Two-jaw cylinder gripper mechanism for round pieces according to claim 1, characterized in that the gripper body (11) is fixed to the action end of the two-jaw cylinder (4) by means of a gripper connecting block (3).
7. Two-jaw cylinder gripper mechanism for round pieces according to claim 6, characterized in that the gripper body (11) is connected to the gripper connection block (3) by means of a dowel bolt (5), the gripper connection block (3) being connected to the action end of the two-jaw cylinder (4).
8. Two-jaw cylinder gripper mechanism for round pieces according to claim 1, characterized in that said gripper jaws (1) are made of a material with high elastic modulus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010356141.2A CN111347450A (en) | 2020-04-29 | 2020-04-29 | Two-claw cylinder clamping jaw mechanism for round piece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010356141.2A CN111347450A (en) | 2020-04-29 | 2020-04-29 | Two-claw cylinder clamping jaw mechanism for round piece |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111347450A true CN111347450A (en) | 2020-06-30 |
Family
ID=71189824
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010356141.2A Pending CN111347450A (en) | 2020-04-29 | 2020-04-29 | Two-claw cylinder clamping jaw mechanism for round piece |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111347450A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111958205A (en) * | 2020-08-14 | 2020-11-20 | 北京无线电测量研究所 | Heavy assembly subassembly assembly auxiliary device and contain its assembly system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202336596U (en) * | 2011-10-14 | 2012-07-18 | 河南森茂机械有限公司 | Three-jaw chuck |
| EP3069830A2 (en) * | 2015-03-19 | 2016-09-21 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Gripper element having an elastically deformable bending element in a preferred direction and support |
| CN207402531U (en) * | 2017-11-08 | 2018-05-25 | 余姚市昕宇液压机件有限公司 | A kind of opening and closing rotating and clamping device |
| CN108544522A (en) * | 2018-04-16 | 2018-09-18 | 东阳市天齐科技有限公司 | Big opening and closing angle manipulator |
| CN209831671U (en) * | 2019-04-17 | 2019-12-24 | 宿州市亿晟矿山设备制造有限公司 | Anchor ring is forged with snatching manipulator hot |
| KR20200009443A (en) * | 2018-07-19 | 2020-01-30 | 한양대학교 산학협력단 | Soft gripper |
| CN212635767U (en) * | 2020-04-29 | 2021-03-02 | 江苏汉格智能科技有限公司 | Two-claw cylinder clamping jaw mechanism for round piece |
-
2020
- 2020-04-29 CN CN202010356141.2A patent/CN111347450A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202336596U (en) * | 2011-10-14 | 2012-07-18 | 河南森茂机械有限公司 | Three-jaw chuck |
| EP3069830A2 (en) * | 2015-03-19 | 2016-09-21 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Gripper element having an elastically deformable bending element in a preferred direction and support |
| CN207402531U (en) * | 2017-11-08 | 2018-05-25 | 余姚市昕宇液压机件有限公司 | A kind of opening and closing rotating and clamping device |
| CN108544522A (en) * | 2018-04-16 | 2018-09-18 | 东阳市天齐科技有限公司 | Big opening and closing angle manipulator |
| KR20200009443A (en) * | 2018-07-19 | 2020-01-30 | 한양대학교 산학협력단 | Soft gripper |
| CN209831671U (en) * | 2019-04-17 | 2019-12-24 | 宿州市亿晟矿山设备制造有限公司 | Anchor ring is forged with snatching manipulator hot |
| CN212635767U (en) * | 2020-04-29 | 2021-03-02 | 江苏汉格智能科技有限公司 | Two-claw cylinder clamping jaw mechanism for round piece |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111958205A (en) * | 2020-08-14 | 2020-11-20 | 北京无线电测量研究所 | Heavy assembly subassembly assembly auxiliary device and contain its assembly system |
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