CN113305870B - Cutter bar type air pressure clamping jaw with air pressure system - Google Patents
Cutter bar type air pressure clamping jaw with air pressure system Download PDFInfo
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- CN113305870B CN113305870B CN202110736864.XA CN202110736864A CN113305870B CN 113305870 B CN113305870 B CN 113305870B CN 202110736864 A CN202110736864 A CN 202110736864A CN 113305870 B CN113305870 B CN 113305870B
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- block
- air pressure
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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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
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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
Abstract
The invention discloses a cutter bar type air pressure clamping jaw with an air pressure system, which is structurally provided with an air pressure control box, an operation control plate, an execution arm and a gripping device, wherein the air pressure control box is positioned below the operation control plate, the execution arm is movably matched with the gripping device, one end of the execution arm is embedded into the air pressure control box and matched with the air pressure control box, the elasticity of the connecting rod assists the abutting block to generate upper and lower end thrust, so that the abutting block can be deformed along with the curvature of the cambered surface, the rear side end of the hemispherical block is not extruded any more, the extrusion block generates a certain swing angle under the supporting and expanding action of the spring and the extension coordination of the connecting plate, the gravity ball applies pressure to the tough block, the extrusion block is favorably matched with the connecting plate, the change is generated circularly, so that the whole hemispherical block is deformed, constantly drive gaseous activity, lead to the opening by the connection board and produce the adsorption affinity to the side, supplementary deformation piece is better adsorbs the laminating to the cambered surface.
Description
Technical Field
The invention belongs to the field of air pressure systems, and particularly relates to a cutter bar type air pressure clamping jaw with an air pressure system.
Background
With the continuous development of modern technology, the clamping jaw becomes a common material clamping tool, and the characteristics of convenience, high efficiency, flexibility and the like are similar to the characteristics of the movement of the arm of a person, so that the clamping jaw is widely applied in various fields to assist or even replace the grabbing and transposition of the person for the material.
Based on the discovery of the inventor, the existing cutter bar type air pressure clamping jaw with an air pressure system has the following defects:
the centre gripping terminal surface of grabbing tool is the plane end usually, but the material style that needs to grab to press from both sides is diversified, therefore just unable better adaptation grabs the clamp object, when grabbing the clamp object and being the column material, its contact surface with the centre gripping terminal surface is the cambered surface contact, then the contact surface that has significantly reduced to reduce frictional force makes grabbing tool in the transposition process after grabbing the clamp with the column material, the phenomenon of column material landing appears easily.
It is therefore desirable to provide a knife-bar air pressure jaw with an air pressure system.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a cutter bar type air pressure clamping jaw with an air pressure system so as to solve the problems in the prior art.
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides a cutter arbor formula atmospheric pressure clamping jaw with pneumatic system, its structure is equipped with pneumatic control case, control panel, execution arm, grabbing device, the pneumatic control case is located control panel below, execution arm and grabbing device clearance fit, execution arm one end is embedded into in the pneumatic control case and is cooperateed.
The grabbing device is provided with a traction arm, a fixed block and a grabbing plate, the traction arm is hinged to the fixed block, and the grabbing plate is connected to the front end of the fixed block in a sliding mode and is movably matched with the front end of the fixed block.
As a further improvement of the invention, the grabbing plate is provided with an inner cavity, a clamping rail and a flexible plate, the inner cavity and the clamping rail are of an integrated structure and are positioned at the side end position, the rear end of the flexible plate is embedded and moved in the inner cavity, the flexible plate is displaced along with the stress of the front side end, and the inner cavity provides an internal moving space for the flexible plate.
As a further improvement of the invention, the flexible plate is provided with a connecting rod, a hemispherical block and a resisting block, one end of the connecting rod is hinged and movably matched with the resisting block, the hemispherical block is connected between the connecting rods in a clearance fit manner, the hemispherical block is movably matched at the inner side end of the resisting block, the connecting rod has elasticity and is limited to a certain length, and the hemispherical block is in a semicircular structure and can be deformed.
As a further improvement of the invention, the hemispherical block is provided with extrusion blocks, connecting plates and springs, the connecting plates are connected at intervals of the extrusion blocks, the upper end and the lower end of each spring are respectively connected with and movably matched with the inner side ends of the extrusion blocks, the two extrusion blocks are symmetrically arranged up and down, and the connecting plates are ring silica gel plates with transverse through openings and have certain toughness dragging degree.
As a further improvement of the invention, the extrusion block is provided with a tough block, a gravity ball and a movable groove, the movable groove is embedded and installed inside the tough block, the gravity ball moves in the movable groove, the tough block is made of rubber and has certain flexibility, the size of the inner space of the movable groove can be changed, the gravity ball has certain weight property, and the deformation of the tough block is convenient for the change of the space of the movable groove.
As a further improvement of the invention, the resisting block is provided with a hard block, a deformation block and four friction blocks, wherein the deformation block and the hard block are of an integrated structure and are positioned in the middle section of the deformation block, the friction blocks are connected to one end of the outer side of the deformation block, the deformation block is made of butadiene rubber and has excellent dragging flexibility, and the four friction blocks are vertically and uniformly distributed on the deformation block and are in a convex state outside the end face of the deformation block.
As a further improvement of the invention, the friction block is provided with a compression block, a sleeve frame, a balloon and a support rod, the compression block is connected to the upper end and the lower end of the sleeve frame and is movably matched, the balloon is embedded and connected inside the compression block, the support rod is connected with the inner side of the sleeve frame and is movably matched, the compression block is in a petal shape and has certain toughness deformation degree, the balloon is in a spherical structure, the compression block and the balloon are both provided with two compression blocks and two balloon balls and are in a vertically symmetrical structure, and the compression block is displaced under the matching of the sleeve frame.
As a further improvement of the invention, the capsule ball is provided with a pressure head, an expansion bracket and a variable ring, the pressure head is connected to the outer side of the variable ring, the expansion bracket is movably matched with the inner side of the variable ring, the variable ring is made of elastic plastic body and is in an annular state, the variable ring has excellent elastic force, and the expansion bracket assists the variable ring to deform under pressure.
Compared with the prior art, the invention has the following beneficial effects:
1. the elasticity through the connecting rod is supplementary to producing lower extreme thrust to the piece of supporting, be convenient for support the piece and have deformation along with cambered surface radian curve, no longer extrude to hemisphere piece rear end, make the extrusion piece under the stretch effect of spring and the extension cooperation of linkage plate, produce certain pendulum angle, exert pressure to tough piece by the gravity ball, do benefit to extrusion piece and linkage plate cooperation, the circulation produces the change, make hemisphere piece whole at the deformation in-process, constantly drive gaseous activity, the opening that leads to by the linkage plate produces the adsorption affinity to the side, supplementary deformation piece is better adsorbs the laminating to the cambered surface.
2. Through receiving the piece to some articulated rotations, the cover frame is supplementary its pressurized change and the inflection changes, the vaulting pole changes thereupon and tends to transversely and produce side direction top supporting force to the cover frame to centering in the pendulum, avoid the clutch blocks to tend to complanate and reduce the friction surface, the high resilience of change ring self does benefit to constantly adsorbing gas, crowded row, supplementary gas is to the circulation of hemisphere piece, further increase air current adsorption affinity, simultaneously under the cooperation of expansion bracket, in time be cyclic annular exhibition of propping, the reaction is received the piece, it has the conflict with the cambered surface all the time to do benefit to it, ensure the frictional force of contact terminal surface.
Drawings
Fig. 1 is a schematic structural view of a knife bar type pneumatic clamping jaw with a pneumatic system according to the present invention.
Fig. 2 is a schematic view of the internal cross-sectional structure of a grasping apparatus according to the present invention.
Fig. 3 is a schematic view of the internal cross-sectional structure of a grabbing plate according to the present invention.
FIG. 4 is a schematic view of the internal cross-sectional structure of a flexible panel according to the present invention.
Fig. 5 is a schematic view of an internal cross-sectional structure of a hemispherical block according to the present invention.
FIG. 6 is a schematic view of the internal cross-sectional structure of an extrusion block of the present invention.
Fig. 7 is a schematic view of an internal cross-sectional structure of a resisting block according to the present invention.
FIG. 8 is a schematic view of the internal cross-sectional structure of a friction block of the present invention.
Fig. 9 is a schematic view of the internal cross-sectional structure of a balloon of the present invention.
In the figure: the device comprises an air pressure control box-1, a control board-2, an execution arm-3, a grabbing device-4, a traction arm-41, a fixed block-42, a grabbing board-43, an inner cavity-431, a clamping rail-432, a flexible board-433, a connecting rod-a 1, a hemispherical block-a 2, a resisting block-a 3, a pressing block-a 21, a connecting plate-a 22, a spring-a 23, a tough block-q 1, a gravity ball-q 2, a movable groove-q 3, a hard block-a 31, a deformation block-a 32, a friction block-a 33, a pressed block-w 1, a sleeve frame-w 2, a bag ball-w 3, a supporting rod-w 4, a pressure head-w 31, an expansion frame-w 32 and a change ring-w 33.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
example 1:
as shown in figures 1 to 7:
the invention provides a cutter bar type air pressure clamping jaw with an air pressure system, which is structurally provided with an air pressure control box 1, an operation control plate 2, an execution arm 3 and a grabbing device 4, wherein the air pressure control box 1 is positioned below the operation control plate 2, the execution arm 3 is movably matched with the grabbing device 4, and one end of the execution arm 3 is embedded into the air pressure control box 1 and matched with the same.
The grabbing device 4 is provided with a traction arm 41, a fixed block 42 and a grabbing plate 43, the traction arm 41 is hinged to the fixed block 42, and the grabbing plate 43 is connected to the front end of the fixed block 42 in a sliding mode and is movably matched with the front end of the fixed block 42.
The grabbing plate 43 is provided with an inner cavity 431, a clamping rail 432 and a flexible plate 433, the inner cavity 431 and the clamping rail 432 are of an integrated structure and are located at the side end position of the inner cavity 431, the rear end of the flexible plate 433 is embedded and moved in the inner cavity 431, the flexible plate 433 displaces along with the force applied to the front side end, and the inner cavity 431 provides an internal moving space for the flexible plate 433 to flexibly change.
Wherein, flexible flap 433 is equipped with connecting rod a1, hemisphere piece a2, supports piece a3, connecting rod a1 one end with support piece a3 articulated be connected and the clearance fit, hemisphere piece a2 clearance fit connects between connecting rod a1, hemisphere piece a2 clearance fit is at supporting piece a3 medial extremity, connecting rod a1 has the elasticity and has limited certain length, hemisphere piece a2 is semicircular structure, can deform, support piece a3 and carry out the form transform under a 1's the extrusion drive, tend to the arcuation gradually, can adapt to press from both sides and get cambered surface material.
Wherein, hemisphere piece a2 is equipped with extrusion piece a21, links up fishplate bar a22, spring a23, link up fishplate bar a22 is connected in extrusion piece a21 interval position department, spring a23 goes up the lower extreme and is connected and clearance fit with extrusion piece a21 medial extremity respectively, extrusion piece a21 is equipped with two, and is upper and lower symmetry setting, link up fishplate bar a22 has certain toughness and tractive degree for having the circle silica gel plate piece of horizontal through mouth, extrusion piece a21 carries out condensation and extension deformation under spring a 23's elastic fit for hemisphere piece a2 is nimble to be the side arch and sunken activity, is convenient for drive the air current and changes.
Wherein, extrusion piece a21 is equipped with tough piece q1, gravity ball q2, activity groove q3, activity groove q3 embedding is installed inside tough piece q1, gravity ball q2 moves about in activity groove q3, tough piece q1 rubber material has certain pliability, activity groove q3 inner space size can change, gravity ball q2 has certain heavy pressure nature, tough piece q1 deformation is convenient for activity groove q3 space variation for gravity ball q2 is active to roll, and better reaction acts on tough piece q1, does benefit to it and has the certain swing of range under the assistance of applied pressure and rolls over.
Wherein, support piece a3 and be equipped with hard piece a31, deformation piece a32, clutch blocks a33, deformation piece a32 and hard piece a31 are the integral structure and lie in the district's of its centre section, clutch blocks a33 is connected in deformation piece a32 outside one end, deformation piece a32 is the butadiene rubber material, has good flexibility of dragging, clutch blocks a33 is equipped with four, is the even arrangement of vertical form at deformation piece a32, is protruding state outside its terminal surface, the good deformability nature of deformation piece a32 does benefit to its arcuation change, and is the tortuous change along with foreign object cambered surface curve, and the various peripheral ends of better adaptation are the material of cambered surface, do benefit to producing better laminating power, and clutch blocks a33 effectively increases area and makes the contact surface increase frictional force, prevents the landing of foreign object.
The specific use mode and function of the embodiment are as follows: personnel can electrify the air pressure control box 1 to control operation by starting a switch, adjust the control plate 2, enable the traction arm 41 to drive the fixed block 42 to displace under the control, so as to facilitate the grabbing plate 43 to approach and contact with a substance to be grabbed, then clamp the substance under the action of a resisting force, firstly contact and connect the substance outside the substance with an arc end surface through the flexible plate 433, along with the increasing of the resisting force, the resisting block a3 deforms along with the arc curvature of the arc surface, the flexibility of the connecting rod a1 assists the resisting block a3 to generate the upper and lower end thrust, the tail end of the connecting rod a1 is clamped with the clamping rail 432 to displace, so as to facilitate the further arc change of the resisting block a3, and the rear side end of the hemispherical block a2 is not extruded any more, so that the extruding block a21 generates a certain swing angle under the supporting action of the spring a23 and the extending coordination of the connecting plate a22, the gravity ball q2 rolls along with the swing rotation, so as to apply pressure to the q1, thereby facilitating the cooperation of the extruding block a21 and the connecting plate a22, the circulation produces the change, makes the whole deformation in-process of hemisphere piece a2, constantly drives the gas activity, leads to the through-hole that produces by connection plate a22 to the adsorption affinity of side, and supplementary deformation piece a32 is better adsorbs the laminating to the cambered surface.
Example 2:
as shown in fig. 8 to 9:
the friction block a33 is provided with a compression block w1, a sleeve frame w2, a balloon w3 and a stay bar w4, the compression block w1 is connected to the upper end and the lower end of the sleeve frame w2 and is movably matched with the upper end and the lower end of the sleeve frame w2, the balloon w3 is embedded and connected to the inside of the compression block w1, the stay bar w4 is connected to the inner side of the sleeve frame w2 and movably matched with the inner side of the sleeve frame w2, the compression block w1 is in a petal shape and has certain toughness deformation degree, the balloon w3 is in a spherical structure, the compression block w1 and the balloon w3 are both provided with two compression blocks which are in a vertical symmetrical structure, the compression block w1 is displaced under the matching of the sleeve frame w2, so that the friction block a33 integrally generates arc deformation, and when the compression block w1 compresses inwards, the stay bar w4 generates outward jacking force on the sleeve frame 2, thereby facilitating the right-side arching movement of the friction block a33 and avoiding reduction of friction.
The bag ball w3 is provided with a pressure head w31, an expansion bracket w32 and a change ring w33, the pressure head w31 is connected to the outer side of the change ring w33, the expansion bracket w32 is movably matched with the inner side of the change ring w33, the change ring w33 is made of an elastic plastic body material and is in an annular state and has excellent elastic force, and the expansion bracket w32 assists the change ring w33 to be deformed under pressure and provides outward supporting force for the change ring w33, so that the change ring w33 can continuously extrude gas.
The specific use mode and function of the embodiment are as follows: a convex structure is formed at the outer end of the deformation block a32 through the friction block a33, when an arc surface abuts against the arc surface, along with the change of abutting force, the pressed block w1 is hinged to rotate, the sleeve frame w2 assists the pressed change of the pressed block w2 to change in a shrinkage and folding mode, the stay rod w4 changes accordingly and tends to be transverse in the swing mode to generate lateral propping force on the sleeve frame w2, the friction block a33 is prevented from tending to be flat and reducing the friction surface, the bag ball w3 is pressed along with the pressed block w1, the high resilience of the change ring w33 is beneficial to continuously adsorbing and extruding gas, the auxiliary gas flows to the hemisphere block a2, the airflow adsorption force is further increased, and meanwhile, under the cooperation of the telescopic frame w32, annular stretching is timely performed, the pressed block w1 is reacted, the gas is beneficial to always abut against the arc surface, and the friction force of the contact end surface is ensured.
The technical solutions of the present invention or similar technical solutions designed by those skilled in the art based on the teachings of the technical solutions of the present invention are all within the scope of the present invention to achieve the above technical effects.
Claims (4)
1. The utility model provides a cutter arbor formula atmospheric pressure clamping jaw with pneumatic system, its structure is equipped with pneumatic control case (1), control panel (2), execution arm (3), grabbing device (4), pneumatic control case (1) is located control panel (2) below, execution arm (3) and grabbing device (4) clearance fit, execution arm (3) one end embedding and cooperate in pneumatic control case (1), its characterized in that:
the grabbing device (4) is provided with a traction arm (41), a fixed block (42) and a grabbing plate (43), the traction arm (41) is hinged with the fixed block (42), and the grabbing plate (43) is connected to the front side end of the fixed block (42) in a sliding mode and is movably matched with the fixed block;
the grabbing plate (43) is provided with an inner cavity (431), a clamping rail (432) and a flexible plate (433), the inner cavity (431) and the clamping rail (432) are of an integrated structure and are located at the side end position of the clamping rail, and the rear end of the flexible plate (433) is embedded and movable in the inner cavity (431);
the flexible flap (433) is provided with a connecting rod (a1), a hemispherical block (a2) and a resisting block (a3), one end of the connecting rod (a1) is hinged and movably matched with the resisting block (a3), the hemispherical block (a2) is connected between the connecting rods (a1) in a clearance fit mode, and the hemispherical block (a2) is movably matched with the inner end of the resisting block (a 3);
the hemisphere block (a2) is provided with a squeezing block (a21), a connecting plate (a22) and a spring (a23), the connecting plate (a22) is connected to the interval position of the two squeezing blocks (a21), and the upper end and the lower end of the spring (a23) are respectively connected with and movably matched with the inner side end of the squeezing block (a 21);
the extrusion block (a21) is provided with a tough block (q1), a gravity ball (q2) and a movable groove (q3), the movable groove (q3) is embedded in the tough block (q1), and the gravity ball (q2) moves in the movable groove (q 3).
2. The toolbar-style pneumatic gripper with pneumatic system of claim 1, wherein: the abutting block (a3) is provided with a hard block (a31), a deformation block (a32) and a friction block (a33), the deformation block (a32) and the hard block (a31) are of an integrated structure and are located in the middle section of the deformation block, and the friction block (a33) is connected to one end of the outer side of the deformation block (a 32).
3. The toolbar-style pneumatic gripper with pneumatic system of claim 2, wherein: friction block (a33) is equipped with and receives pressure piece (w1), set frame (w2), sacculus (w3), vaulting pole (w4), receive pressure piece (w1) and connect and hold up end and clearance fit about set frame (w2), sacculus (w3) embedding is connected and is being received inside piece (w1), vaulting pole (w4) and set frame (w2) inboard are connected and clearance fit.
4. The toolbar-style pneumatic gripper with pneumatic system of claim 3, wherein: the balloon (w3) is provided with a pressure head (w31), an expansion bracket (w32) and a change ring (w33), wherein the pressure head (w31) is connected to the outer side of the change ring (w33), and the expansion bracket (w32) is movably matched with the inner side of the change ring (w 33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110736864.XA CN113305870B (en) | 2021-06-30 | 2021-06-30 | Cutter bar type air pressure clamping jaw with air pressure system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110736864.XA CN113305870B (en) | 2021-06-30 | 2021-06-30 | Cutter bar type air pressure clamping jaw with air pressure system |
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| Publication Number | Publication Date |
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| CN113305870A CN113305870A (en) | 2021-08-27 |
| CN113305870B true CN113305870B (en) | 2022-08-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110736864.XA Active CN113305870B (en) | 2021-06-30 | 2021-06-30 | Cutter bar type air pressure clamping jaw with air pressure system |
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Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007118148A (en) * | 2005-10-31 | 2007-05-17 | Nissan Motor Co Ltd | Robot hand |
| KR101805606B1 (en) * | 2016-05-27 | 2017-12-06 | (주)영창로보테크 | Gripper having enhanced Heat resistance, impact resistance and wear resistance |
| CN207387699U (en) * | 2017-10-26 | 2018-05-22 | 漳州升源机械工业有限公司 | A kind of cutter holder type air pressure clamping jaw for having pneumatic shuttle |
| CN107932549B (en) * | 2018-01-16 | 2020-01-14 | 深圳市大寰机器人科技有限公司 | Self-adaptive under-actuated steering three-finger robot clamping jaw |
| CN108214534B (en) * | 2018-01-16 | 2020-03-31 | 深圳市大寰机器人科技有限公司 | Self-adaptive under-actuated robot clamping jaw |
| CN109015709A (en) * | 2018-08-04 | 2018-12-18 | 安徽派日特智能装备有限公司 | A kind of robot hand of crown automatic assembling |
| CN109465844B (en) * | 2018-12-27 | 2023-10-27 | 浙江大学 | Heavy-duty hydraulic mechanical claw with double degrees of freedom |
| CN210233089U (en) * | 2019-06-21 | 2020-04-03 | 苏州罗克韦格自动化有限公司 | Four-bar linkage manipulator capable of increasing clamping area |
| CN110370306A (en) * | 2019-08-01 | 2019-10-25 | 苏州希瑞格机器人科技有限公司 | A kind of self-adjustable electric gripper |
| CN212502779U (en) * | 2020-05-09 | 2021-02-09 | 天津施格自动化科技有限公司 | Parallel opening tongs |
| CN212287704U (en) * | 2020-08-12 | 2021-01-05 | 南京工业职业技术学院 | Clamping jaw capable of adjusting different clamping ranges |
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- 2021-06-30 CN CN202110736864.XA patent/CN113305870B/en active Active
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Effective date of registration: 20220712 Address after: 625199 Weigan North Road, economic development zone, Ya'an City, Sichuan Province Applicant after: Ya'an Hengcheng Precision Cutting Tool Co.,Ltd. Address before: 518000 2502, block a, Tianfu, Xiwan, Nanshan District, Shenzhen, Guangdong Applicant before: Xu Chundan |
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