CN205380689U

CN205380689U - Pneumatic hand claw

Info

Publication number: CN205380689U
Application number: CN201620161744.6U
Authority: CN
Inventors: 程远; 许弋; 陈明; 王海荣
Original assignee: Wuxi Institute of Technology
Current assignee: Wuxi Institute of Technology
Priority date: 2016-03-03
Filing date: 2016-03-03
Publication date: 2016-07-13
Anticipated expiration: 2026-03-03

Abstract

The utility model relates to a pneumatic gripper, which relates to a gripper for grabbing objects, and is especially suitable for matching assembly and use of various small robots. Includes gripper mounting plate, pin seat, finger pin, finger gripper, finger upper stop, finger grip pin stopper, long fingers, short fingers, drive slider, cylinder bracket, cylinder mounting plate, rollers Axle pins, rollers, couplings, return springs and cylinders; the cylinder bracket is installed on the claw mounting plate, the cylinder mounting plate is fixed on the upper part of the cylinder bracket, and the cylinder is mounted on the rear of the cylinder mounting plate; the drive slider is installed on the claw mounting plate The plate is located in the middle of the cylinder bracket; the piston head of the cylinder is connected with the drive slider through a coupling; the pin seat is installed at the end of the claw mounting plate, and the finger upper baffle is installed on the pin seat through the finger pin. The utility model adopts a common miniature cylinder and a driving link mechanism to realize the claw function, which is accurate and reliable, small in volume, and large in stroke and working range.

Description

A kind of Pneumatic paw

Technical field

This utility model one Pneumatic paw refers to a kind of crawl object paw, is particularly suited for supporting assembling of all kinds of small scale robot and uses.

Background technology

Current along with industrial expansion, the application of robot gets more and more, and paw is as the important execution unit of robot, it is desirable to reliable in action, and speed is fast, and simple in construction is easy to use, and therefore a lot of robots adopt pneumatic type paw.

The pneumatic type paw used in existing robot all adopts special cylinder paw, can directly buy, it is not necessary to designed, designed, but this paw stroke is less, and working range is little, relatively costly, and bigger than normal for volume small scale robot, compact not.

Utility model content

The purpose of this utility model is to provide a kind of Pneumatic paw for above-mentioned weak point, adopts common minitype cylinder and drives linkage to realize paw function, and accurately and reliably, volume is little, and stroke and working range are relatively big, are particularly suitable as the paw of small scale robot.

This utility model takes techniques below scheme to realize:

A kind of Pneumatic paw includes paw installing plate, axis pin base, finger bearing pin, finger chuck, finger overhead gage, finger chuck pin shaft baffle, long finger, short hand refer to, drive slide block, air cylinder support, cylinder mounting plate, roller pivot pin, roller, connector, back-moving spring and cylinder；

Air cylinder support is arranged on paw installing plate, and cylinder mounting plate is fixed on air cylinder support top, and cylinder is arranged on cylinder mounting plate rear portion；Drive slide block to be arranged on paw installing plate, be positioned in the middle of air cylinder support；The piston head of described cylinder is connected with driving slide block by connector；Axis pin base is arranged on paw installing plate end, and finger overhead gage is arranged on axis pin base by finger bearing pin；

Described long finger includes left long finger and right long finger, and described short hand refers to that including left short hand refers to refer to right short hand, and left long finger, right long finger, left short hand refer to and right short hand refers to be arranged between finger overhead gage and axis pin base respectively through finger bearing pin；Finger chuck includes left hand and refers to that chuck and the right hand refer to chuck, left hand refers to the end that chuck is arranged on left long finger by a finger chuck pin shaft baffle and left short hand refers to, the right hand refers to the end that chuck is arranged on right long finger by the finger chuck pin shaft baffle of another symmetry and right short hand refers to；Said structure forms parallel linkage, ensures that finger chuck does translation in swing process.

It is being equipped with roller pivot pin near the left long finger of connector and one end of right long finger, roller sleeve is contained on roller pivot pin, roller coordinates with the edge Structure deformation driving slide block, being provided with back-moving spring between the afterbody of left long finger and right long finger, back-moving spring keeps roller to contact with driving shoe edge.

Described cylinder adopts commercially available minitype cylinder.

During Pneumatic paw work, cylinder operation, make the left long finger of driving slipper push and right long finger swing in opposite directions, coordinate back-moving spring, it is achieved finger clamp head clamping or unclamp action.

This utility model is rational in infrastructure, novel in design, adopts common minitype cylinder and drives linkage to realize paw function, and accurately and reliably, volume is little, and stroke and working range are relatively big, are particularly suitable as the paw of small scale robot.

Accompanying drawing explanation

Below with reference to accompanying drawing, this utility model is described further:

Fig. 1 is the structural representation of this utility model novel pneumatic paw；

Fig. 2 is this utility model novel pneumatic paw structure top view.

In figure: 1, paw installing plate；2, axis pin base；3, finger bearing pin；4, finger chuck；5, finger overhead gage；6, finger chuck pin shaft baffle；7, long finger；8, short hand refers to；9, slide block is driven；10, air cylinder support；11, cylinder mounting plate；12, roller pivot pin；13, roller；14, connector；15, back-moving spring；16, cylinder.

Detailed description of the invention

With reference to accompanying drawing 1 ~ 2, this utility model one Pneumatic paw includes paw installing plate 1, axis pin base 2, finger bearing pin 3, finger chuck 4, finger overhead gage 5, finger chuck pin shaft baffle 6, long finger 7, short hand refer to 8, drive slide block 9, air cylinder support 10, cylinder mounting plate 11, roller pivot pin 12, roller 13, connector 14, back-moving spring 15 and cylinder 16；

Air cylinder support 10 is arranged on paw installing plate 1, and cylinder mounting plate 11 is fixed on air cylinder support 10 top, and cylinder 16 is arranged on cylinder mounting plate 11 rear portion；Drive slide block 9 to be arranged on paw installing plate 1, be positioned in the middle of air cylinder support 10；The piston head of described cylinder 16 is connected with driving slide block 9 by connector 14；Axis pin base 2 is arranged on paw installing plate 1 end, and finger overhead gage 5 is arranged on axis pin base 2 by finger bearing pin 3；

Described long finger 7 includes left long finger and right long finger, and described short hand refers to that 8 include left short hand and refer to refer to right short hand, and left long finger, right long finger, left short hand refer to and right short hand refers to be arranged between finger overhead gage 5 and axis pin base 2 respectively through finger bearing pin 3；Finger chuck 4 includes left hand and refers to that chuck and the right hand refer to chuck, left hand refers to that chuck passes through the end that a finger chuck pin shaft baffle 6 is arranged on left long finger and left short hand refers to, the right hand refers to that chuck passes through the end that the finger chuck pin shaft baffle 6 of another symmetry is arranged on right long finger and right short hand refers to；Said structure forms parallel linkage, ensures that finger chuck does translation in swing process.

It is being equipped with roller pivot pin 12 near the left long finger of connector 14 and one end of right long finger, roller 13 is sleeved on roller pivot pin 12, roller 13 coordinates with the edge Structure deformation driving slide block 9, being provided with back-moving spring 15 between the afterbody of left long finger and right long finger, back-moving spring 15 keeps roller 13 to touch with driving slide block 12 side edge.

Described cylinder 16 adopts commercially available minitype cylinder.

During Pneumatic paw work, cylinder 16 works, and makes driving slide block 9 promote left long finger and right long finger to swing in opposite directions, coordinates back-moving spring 15, it is achieved finger clamp head clamping or unclamp action.

Claims

1. A pneumatic hand gripper, characterized in that it includes a gripper mounting plate, a pin seat, a finger pin shaft, a finger chuck, a finger upper baffle, a finger chuck pin shaft baffle, a long finger, a short finger, a drive Sliders, cylinder brackets, cylinder mounting plates, roller pins, rollers, couplings, return springs and cylinders;

The cylinder bracket is installed on the claw mounting plate, the cylinder mounting plate is fixed on the upper part of the cylinder bracket, and the cylinder is mounted on the rear of the cylinder mounting plate; the driving slider is mounted on the claw mounting plate and is located in the middle of the cylinder bracket; the piston head of the cylinder It is connected with the drive slider through the coupling; the pin seat is installed at the end of the claw mounting plate, and the finger upper baffle is installed on the pin seat through the finger pin;

The long fingers include left long fingers and right long fingers, and the short fingers include left short fingers and right short fingers, and the left long fingers, right long fingers, left short fingers and right short fingers are installed on the fingers respectively Between the baffle plate and the pin seat; the finger clamp includes a left finger clamp and a right finger clamp, and the left finger clamp is installed on the ends of the left long finger and left short finger through a finger clamp pin shaft baffle, and the right hand The finger chuck is installed on the ends of the right long finger and the right short finger through another symmetrical finger chuck pin shaft baffle; the above-mentioned structure forms a parallel linkage mechanism, which ensures the translational movement of the finger chuck during the swing process.

2. The pneumatic gripper according to claim 1, characterized in that: a roller shaft pin is provided at one end of the left long finger and the right long finger near the coupling, and the roller is sleeved on the roller shaft pin, and the rolling The child is in rolling contact with the edge of the drive slider, and a back-moving spring is installed between the tails of the left long finger and the right long finger, and the back-moving spring keeps the roller in contact with the edge of the drive slider.

3. The pneumatic gripper according to claim 1, characterized in that: the air cylinder is a miniature air cylinder.