CN205520613U - A accurate pneumatic centre gripping mechanical gripper for sheet metal class work piece - Google Patents
A accurate pneumatic centre gripping mechanical gripper for sheet metal class work piece Download PDFInfo
- Publication number
- CN205520613U CN205520613U CN201620277653.9U CN201620277653U CN205520613U CN 205520613 U CN205520613 U CN 205520613U CN 201620277653 U CN201620277653 U CN 201620277653U CN 205520613 U CN205520613 U CN 205520613U
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- contact block
- pair
- frame
- lower plate
- pattern
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- Withdrawn - After Issue
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Abstract
The utility model relates to an accurate pneumatic centre gripping mechanical gripper for sheet metal class work piece. Including hand claw fixture, hand claw moving mechanism and profiling moving mechanism. Hand claw fixture includes a pair of platelike hand claw corresponding from top to bottom, controls a pair of profiling and the positioning mechanism that correspond, hand claw moving mechanism includes a sliding baseboard and an internal guide rail, profiling moving mechanism includes u -shaped frame, cylinder and a pair of outer guide. The cylinder passes through u -shaped frame and drives a pair of profiling reciprocating motion, the clamp that removes a pair of platelike hand claw of in -process control tight with loosen, simultaneously, adversary's claw passes through the reciprocating motion that sliding baseboard realized following an internal guide rail. The utility model has the advantages of reasonable design, can realize through a cylinder that mechanical gripper moving as a whole and mechanical gripper go up the lower plate and press from both sides and tightly wait whole the action with unclamping.
Description
Technical field
This utility model relates to precision optical machinery field, is a kind of air clamper.
Background technology
At mechanical engineering field, the clamping scheme of sheet type workpiece is conventional uses jaw, the most various Pneumatic clamping jaws, general precision is at 0.03 to 0.05 mm, in repetitive positioning accuracy exigent thin plate fast clamp occasion, on the repetitive positioning accuracy production line higher than 0.01mm, only with conventional pneumatic jaw clamping workpiece it is difficult to ensure that the positioning accuracy request of workpiece, generally require a set of complex positioning and clamping mechanism and complete.
Utility model content
The purpose of this utility model is to provide for the Pneumatic clamping paw of a kind of repetitive positioning accuracy height, compact conformation, efficient quick, and to meet the requirement of sheet type workpiece high accuracy fast clamp, precision is up to 0.01 to 0.02 mm.
A kind of precise pneumatic clamping manipulator pawl for sheet type workpiece includes paw clamping device, paw travel mechanism and pattern travel mechanism；
Described paw clamping device includes a pair pattern and the detent mechanism that the upper and lower corresponding paw of pair of plate-shaped, left and right are corresponding；
Described paw travel mechanism includes that sliding floor 3 and is to interior guide rail 24；
Described pattern travel mechanism includes U-frame frame 4, cylinder 10 and a pair outer guide 20；
The pair of interior guide rail 20 and a pair outer guide 24 are respectively positioned on base plate 16, and one is positioned at middle part to interior guide rail 20, and a pair outer guide 24 is symmetrically positioned in an outside to interior guide rail 20；
In the same plane, sliding floor 3 is positioned at the middle part of U-frame frame 4 for described sliding floor 3 and U-frame frame 4；
Described cylinder 10 drives a pair pattern to realize moving back and forth along a pair outer guide 24 by U-frame frame 4, and a pair pattern controls a pair paw in moving process and realize the clamping to processed sheet member and unclamp；Meanwhile, a pair paw is realized along moving back and forth interior guide rail 20 by sliding floor 3.
The technical scheme that this utility model limits further is as follows:
A pair paw of described tabular includes the most corresponding train wheel bridge 1 and lower plate 2, and described train wheel bridge 1 and lower plate 2 are H-shaped plate, and one end of length direction is bare terminal end；
The bottom of described lower plate 2 is fixedly connected sliding floor 3, and one end of sliding floor 3 is fixed with bearing 14, and bearing 14 is positioned at the middle part of the bare terminal end of a pair paw, bearing 14 is fixed with location contact block 11, bearing 14 and location contact block 11 and constitutes detent mechanism；The top of lower plate 2 is laid with plural lead 19, guiding contact block spring 18 it is arranged with respectively on each lead 19, the two ends guiding contact block spring 18 are respectively fixedly connected with train wheel bridge 1 and lower plate 2, on train wheel bridge 1, correspondence offers plural pilot hole, pilot hole and lead 19 coordinate, and make train wheel bridge 1 and lower plate 2 realize moving up and down along lead 19；
The width both sides correspondence respectively of described train wheel bridge 1 offers two U-lags 23, and the notch of U-lag 23 is outside, and the side inwall of U-lag 23 is inclined-plane 22；
The pair of pattern includes two pieces of pattern blocks 5, is separately fixed at the top of U-frame frame 4 both sides, and the both sides of the corresponding width being positioned at a pair paw respectively；Described cylinder 10 is positioned at the middle part of U-frame frame 4, and the piston rod of cylinder 10 is fixedly connected the middle part in U-frame frame 4；
Described pattern block 5 is rectangular block shape, with the projection 26 being respectively equipped with two evaginations on the one side of two U-lag 23 corresponding pattern blocks 5 of train wheel bridge 1 side；Two projections 26 on two pieces of pattern blocks 5 lay respectively in two U-lags 23 of train wheel bridge 1 both sides；Under the effect of cylinder 10 and the drive of U-frame frame 4, projection 26 on two pieces of pattern blocks 5 moves respectively on the inclined-plane 22 of corresponding U-lag 23, make train wheel bridge 1 and lower plate 2 gap in-between or increase or reduction, for unclamping clamp position during increase, be clamped condition during reduction.
Gap between train wheel bridge 1 and lower plate 2 is 10～12mm.
Described detent mechanism includes positioning contact block bearing 14, location contact block 11, locating shaft 13 and contact block spring 12；Described bearing 14 is upright tabular；Location contact block 11 is cylindric, and axial one end offers Blind locating holes；Locating shaft 13 is fixing on base 14, and locating shaft 13 is arranged with contact block spring 12, and location contact block 11 is set on locating shaft 13, and the two ends of contact block spring 12 respectively connected location contact block bearing 14 and location contact block 11；Realize the movement on locating shaft 13 of the location contact block 11 and return.
The base plate 16 corresponding with the bare terminal end of a pair paw is provided with spacing bearing 15, and spacing bearing 15 is upright riser shape；The top of spacing bearing 15 correspond to position the bottom of contact block bearing 14, and the movement to location contact block bearing 14 plays position-limiting action.
Being respectively cooperating with being provided with slide block on described outer guide 24 and interior guide rail 20, described cooperation is the cooperation of dovetails and dovetail groove.
Being respectively equipped with two straight pins 6 on described pattern block 5, straight pin 6 is horizontal, and one end is overhanging, and the overhanging end of straight pin 6 is pressed on the upper surface of lower plate 2, and the upper surface of lower plate 2 stops under being face 27.
Being correspondingly provided with spacer pin 7 respectively on two medial walls that described U-frame frame 4 is corresponding, the two sides of the sliding floor 3 corresponding with the spacer pin 7 of both sides offers the kidney slot 8 of kidney-shaped respectively, the overhanging end of every spacer pin 7 is positioned at the kidney slot 8 of correspondence；The overhanging end of spacer pin 7 moves back and forth distance in kidney slot 8, and be between sliding floor 3 and U-frame frame 4 moves back and forth distance.
Described sliding floor 3 is U-board, with U-frame frame 4 in buckling state；The two ends of sliding floor 3 offer spacing blind hole respectively, it is provided with two spacing guide rods with in the spacing blind hole corresponding U-frame frame 4 at two ends, it is arranged with spring 21 on every spacing guide rod, is matched by spacing blind hole and spacing guide rod, it is achieved the relative movement between sliding floor 3 and U-frame frame 4.
Displacement between described sliding floor 3 and U-frame frame 4 is 50～60mm.
Advantageous Effects of the present utility model is embodied in following aspect:
1. pattern assembly can be driven to move left and right by cylinder 10, utilize the effect of spacer pin 7 and kidney slot 8 to limit the stroke being mutually shifted between set of jaws zoarium and framework pattern assembly, be effectively accurately controlled the movement in stroke.
2. by master plate 5, the mutual effect between straight pin 6 train wheel bridge 1 and lower plate 2 etc., caught workpiece can obtain constant clamping force；The rigidity and the decrement that additionally guide contact block spring 18 can require to arrange and regulation according to the clamping of caught workpiece, in order to the clamping force needed for acquisition.
3. being appropriately arranged with the position of kidney slot 8, it is possible to achieve being accurately positioned of train wheel bridge 1, the height of upper lower plate clamping workpiece is determined by projection 26, thus has the repetitive positioning accuracy that comparison is high.
Accompanying drawing explanation
Fig. 1 is this utility model structural representation；
Fig. 2 is this utility model explosive view；
Fig. 3 is the assembling schematic diagram of pattern, U-frame frame and a pair outer guide；
Fig. 4 is train wheel bridge, lower plate, sliding floor and the one cooperation schematic diagram to interior guide rail；
Fig. 5 is the matching relationship schematic diagram of detent mechanism, train wheel bridge and lower plate；
Fig. 6 is spacing bearing, location contact block bearing and the matching relationship schematic diagram of sliding floor；
Fig. 7 is cylinder installation site schematic diagram；
Fig. 8 is that this utility model one uses view.
Sequence number in upper figure: train wheel bridge 1, lower plate 2, sliding floor 3, U-frame frame 4, pattern block 5, straight pin 6, spacer pin 7, kidney slot 8, connecting plate 9, cylinder 10, location contact block 11, contact block spring 12, locating shaft 13, location contact block bearing 14, spacing bearing 15, base plate 16, regulation screw 17, guide contact block spring 18, lead 19, outer guide 20, spring 21, inclined-plane 22, U-lag 23, interior guide rail 24, on stop face 25, projection 26, under stop face 27, precise pneumatic clamping manipulator pawl 101, planker 102, guide rail 103, track base 104, air supporting plate 105, workpiece 106.
Detailed description of the invention
Below in conjunction with the accompanying drawings, by embodiment, this utility model is further described.
Seeing Fig. 1, a kind of precise pneumatic clamping manipulator pawl for sheet type workpiece includes paw clamping device, paw travel mechanism and pattern travel mechanism.
Seeing Fig. 2, paw clamping device includes a pair pattern and the detent mechanism that the upper and lower corresponding paw of pair of plate-shaped, left and right are corresponding.Paw travel mechanism includes that sliding floor 3 and is to interior guide rail 24.Pattern travel mechanism includes U-frame frame 4, cylinder 10 and a pair outer guide 20.
A pair paw of tabular includes that the most corresponding train wheel bridge 1 and lower plate 2, train wheel bridge 1 and lower plate 2 are H-shaped plate, and one end of length direction is bare terminal end.
The bottom of lower plate 2 is fixedly connected sliding floor 3, one end of sliding floor 3 is installed with location contact block bearing 14, location contact block bearing 14 is positioned at the middle part of the bare terminal end of a pair paw, location contact block 11, location contact block bearing 14 and location contact block 11 are installed on the contact block bearing 14 of location and constitute detent mechanism.The top of lower plate 2 is uniform is provided with four leads 19, guiding contact block spring 18 it is respectively installed with on each lead 19, the two ends guiding contact block spring 18 are respectively fixedly connected with train wheel bridge 1 and lower plate 2, on train wheel bridge 1, correspondence offers four pilot holes, pilot hole and lead 19 coordinate, making train wheel bridge 1 and lower plate 2 realize moving up and down along lead 19, train wheel bridge 1 and sliding up and down of lower plate 2 are play the guiding role by guide cylinder 19；Under the effect guiding contact block spring 18, pattern 5, train wheel bridge 1 and lower plate 2 maintain certain height on sliding floor 3.
The assembly that train wheel bridge 1, lower plate 2 and sliding floor 3 component form is referred to as set of jaws fit.
Seeing Fig. 5, detent mechanism also includes locating shaft 13 and contact block spring 12；Location contact block bearing 14 is upright tabular；Location contact block 11 is cylindric, and axial one end offers Blind locating holes；Locating shaft 13 is fixed on the contact block bearing 14 of location, and locating shaft 13 is set with contact block spring 12, and location contact block 11 is sleeved on locating shaft 13, and the two ends of contact block spring 12 respectively connected location contact block bearing 14 and location contact block 11；Realize the movement on locating shaft 13 of the location contact block 11 and return.
The width both sides correspondence respectively of train wheel bridge 1 offers two U-lags 23, and the notch of U-lag 23 is outside, and the side inwall of U-lag 23 is inclined-plane 22.
Seeing Fig. 3 and Fig. 7, a pair pattern includes two pieces of pattern blocks 5, is respectively and fixedly installed to the top of U-frame frame 4 both sides, and the both sides of the corresponding width being positioned at a pair paw respectively；Cylinder 10 is positioned at the middle part of U-frame frame 4, and the piston rod of cylinder 10 is fixedly connected the middle part in U-frame frame 4 by connecting plate 9.
Seeing Fig. 2, sliding floor 3 is U-board, is positioned at the middle part of U-frame frame 4, with U-frame frame 4 in buckling state；Sliding floor 3 and U-frame frame 4 are in the same plane.The two ends of sliding floor 3 offer spacing blind hole respectively, with in the spacing blind hole corresponding U-frame frame 4 at two ends, two spacing guide rods are installed, it is set with spring 21 on every spacing guide rod, is matched by spacing blind hole and spacing guide rod, it is achieved the relative movement between sliding floor 3 and U-frame frame 4.
Seeing Fig. 3, on two medial walls that U-frame frame 4 is corresponding, correspondence is provided with spacer pin 7 respectively, and the two sides of the sliding floor 3 corresponding with the spacer pin 7 of both sides offers kidney slot 8 respectively, and the overhanging end of every spacer pin 7 is positioned at the kidney slot 8 of correspondence.Displacement between sliding floor 3 and U-frame frame 4 is 50mm.
Seeing Fig. 3 and Fig. 1, pattern block 5 is rectangular block shape, with the projection 26 being respectively equipped with two evaginations on the medial surface of two U-lag 23 corresponding pattern blocks 5 of train wheel bridge 1 side；Two projections 26 on two pieces of pattern blocks 5 lay respectively in two U-lags 23 of train wheel bridge 1 both sides；Under the effect of cylinder 10 and the drive of U-frame frame 4, projection 26 on two pieces of pattern blocks 5 moves respectively on the inclined-plane 22 of corresponding U-lag 23, making train wheel bridge 1 and lower plate 2 gap in-between or increase or reduction, the gap between train wheel bridge 1 and lower plate 2 is 10mm；For unclamping clamp position during increase, it is clamped condition during reduction.Being installed with two straight pins 6 on pattern block 5 respectively, straight pin 6 is horizontal, and one end is overhanging, and the overhanging end of straight pin 6 is pressed on the upper surface of lower plate 2, sees Fig. 4.
The assembly that master plate 5 and chassis 4 component form is referred to as pattern assembly.
Seeing Fig. 3, the overhanging end of spacer pin 7 moves back and forth distance in kidney slot 8, and the distance that moves back and forth being between sliding floor 3 and U-frame frame 4, the displacement between sliding floor 3 and U-frame frame 4 is 50mm；Effect is to limit the stroke being mutually shifted between set of jaws zoarium and pattern assembly.
Seeing Fig. 2, interior guide rail 20 and a pair outer guide 24 are respectively positioned on base plate 16 by one, and one is positioned at middle part to interior guide rail 20, and a pair outer guide 24 is symmetrically positioned in an outside to interior guide rail 20.
Seeing Fig. 6 and Fig. 7, the base plate 16 corresponding with the bare terminal end of a pair paw is provided with spacing bearing 15, spacing bearing 15 is upright riser shape, and spacing bearing 15 is provided with stop screw；The bottom of location contact block bearing 14 correspond to stop screw, and the movement to location contact block bearing 14 plays position-limiting action.
Operation principle of the present utility model is described as follows:
After cylinder 10 accesses compressed air system, pattern assembly can be driven to move left and right.
Seeing Fig. 2, Fig. 5 and Fig. 6, when sliding floor 3 is moved to the left, stop screw determines the extreme position of its left end；When cylinder 10 promotes under(-)chassis 4 to move right, at the mobile initial stage, elastic force effect due to spring 21, during pattern assembly is moved right, set of jaws zoarium does not move, until spacer pin 7 moves to the right-hand member of kidney slot 8, hereafter, pattern assembly continues to move right, and drives set of jaws zoarium entirety to move right together by spacer pin 7, until limit on the right-right-hand limit position；When cylinder 10 drives under(-)chassis 4 to be moved to the left from limit on the right-right-hand limit position by connecting plate 9, pattern assembly first passes through spring 21 and promotes sliding floor 3 and then drive set of jaws zoarium to be moved to the left together, until sliding floor 3 encounters stop screw, hereafter pattern assembly continues to be moved to the left, set of jaws zoarium moves the most together, until spacer pin 7 moves to the left end of kidney slot 8, pattern assembly moves stopping.Continue to be moved to the left at above-mentioned pattern assembly, set of jaws is fit because of the effect of stop screw the most together in moving process, under the effect of pattern block 5 and straight pin 6, train wheel bridge 1 and lower plate 2 complete pinching action, the U-lag 23 contacted with the projection 26 on pattern block 5 it is provided with on train wheel bridge 1, the side of U-lag 23 on stop face 25, on face 25 of stopping parallel with the direction of motion of pattern block 5, the upper side of lower plate 2 stops under being face 27, under the effect of spring 18, the side of the projection 26 on pattern block 5 U-lag 23 on train wheel bridge 1 contacts and keeps sliding.When projection 26 together with straight pin 6 relative to train wheel bridge 1 and lower plate 2 to left movement time, the projection 26 that train wheel bridge 1 is moved downwardly until on pattern block 5 slip over inclined-plane 22 arrive on clamping plate 1 on stop and stop behind face 25, lower plate 2 moves up simultaneously；If having caught workpiece between train wheel bridge 1 and lower plate 2, then when pattern block 5 together with straight pin 6 relative to train wheel bridge 1 and lower plate 2 to left movement time, train wheel bridge 1 keeps sliding with the side of the projection 26 on pattern block 5 all the time, and after lower plate 2 clamps caught workpiece during upper shifting, straight pin 6 separates with surface, inclined-plane 22, hereafter, under spring 18 acts on, lower plate 2 is pressed on caught workpiece to form constant clamping force with constant force all the time.The rigidity of spring 18 and decrement can require to arrange and regulation according to the clamping of caught workpiece, in order to the clamping force needed for acquisition.It is appropriately arranged with the position of kidney slot 8 so that pattern block 5 is relative in train wheel bridge 1 and lower plate 2 movement travel to the left together with straight pin 6, and the projection 26 on pattern block 5 can be covered inclined-plane 22 and arrive face 25 of stopping, in order to realize being accurately positioned of train wheel bridge 1.Above structure shows, the height of upper lower plate clamping workpiece is determined by projection 26, thus has the repetitive positioning accuracy that comparison is high.
During positioning contact 11 is moved to the left together in company with sliding floor 3, positioning contact 11 can be retreated till straight pin 7 arrives the left end of kidney slot 8 by compression after encountering caught workpiece, can realize in this course to caught workpiece in a horizontal plane righting location.
See Fig. 8, this utility model precise pneumatic clamping manipulator pawl 101 uses in pairs, two pairs of precise pneumatic clamping manipulator pawls 101 are respectively and fixedly installed on planker 102, planker 102 is arranged on track base 104 by guide rail 103, and the stator of linear electric motors and track base 104 are fixedly connected, mover connects firmly with planker 102；During work, track base 104 is motionless, and linear electric motors can drive planker 102 to move along a straight line thus drive a pair precise pneumatic clamping manipulator pawl 101 of the present utility model to move along a straight line；Workpiece 106 is placed on the carrying air film that air supporting plate 105 produces, and the two pairs of precise pneumatic clamping manipulator pawls 101 are symmetrically distributed in workpiece 106 both sides and can simultaneously clamp on to obtain and unclamp workpiece 106；After two pairs of precise pneumatic clamping manipulator pawls 101 clamp workpiece 106, under the drive of linear electric motors 106, workpiece 106 does linear motion and passes through detection zone.
Claims (10)
1. the precise pneumatic clamping manipulator pawl for sheet type workpiece, it is characterised in that: include paw clamping device, paw travel mechanism and pattern travel mechanism；
Described paw clamping device includes a pair pattern and the detent mechanism that the upper and lower corresponding paw of pair of plate-shaped, left and right are corresponding；
Described paw travel mechanism includes that sliding floor (3) and is to interior guide rail (24)；
Described pattern travel mechanism includes U-frame frame (4), cylinder (10) and a pair outer guide (20)；
The pair of interior guide rail (20) and a pair outer guide (24) are respectively positioned on base plate (16), and one is positioned at middle part to interior guide rail (20), and a pair outer guide (24) is symmetrically positioned in an outside to interior guide rail (20)；
In the same plane, sliding floor (3) is positioned at the middle part of U-frame frame (4) for described sliding floor (3) and U-frame frame (4)；
Described cylinder (10) drives a pair pattern to realize moving back and forth along a pair outer guide (24) by U-frame frame (4), and a pair pattern controls a pair paw in moving process and realize the clamping to processed sheet member and unclamp；Meanwhile, a pair paw realizes moving back and forth interior guide rail (20) along one by sliding floor (3).
A kind of precise pneumatic clamping manipulator pawl for sheet type workpiece the most according to claim 1, it is characterised in that:
A pair paw of described tabular includes that the most corresponding train wheel bridge (1) and lower plate (2), described train wheel bridge (1) and lower plate (2) are H-shaped plate, and one end of length direction is bare terminal end；
The bottom of described lower plate (2) is fixedly connected sliding floor (3), one end of sliding floor (3) is fixed with location contact block bearing (14), location contact block bearing (14) is positioned at the middle part of the bare terminal end of a pair paw, it is fixed with location contact block (11), location contact block bearing (14) and location contact block (11) on location contact block bearing (14) and constitutes detent mechanism；The top of lower plate (2) is laid with plural lead (19), guiding contact block spring (18) it is arranged with respectively on each lead (19), the two ends guiding contact block spring (18) are respectively fixedly connected with train wheel bridge (1) and lower plate (2), the upper correspondence of train wheel bridge (1) offers plural pilot hole, pilot hole and lead (19) coordinate, and make train wheel bridge (1) and lower plate (2) realize moving up and down along lead (19)；
The width both sides correspondence respectively of described train wheel bridge (1) offers two U-lags (23), and the notch of U-lag (23) is outside, and the side inwall of U-lag (23) is inclined-plane (22)；
The pair of pattern includes two pieces of pattern blocks (5), is separately fixed at the top of U-frame frame (4) both sides, and the both sides of the corresponding width being positioned at a pair paw respectively；Described cylinder (10) is positioned at the middle part of U-frame frame (4), and the piston rod of cylinder (10) is fixedly connected the middle part in U-frame frame (4)；
Described pattern block (5) is rectangular block shape, with the projection (26) being respectively equipped with two evaginations on the one side of two U-lags (23) corresponding pattern block (5) of train wheel bridge (1) side；Two projections (26) on two pieces of pattern blocks (5) lay respectively in two U-lags (23) of train wheel bridge (1) both sides；Under the effect of cylinder (10) and the drive of U-frame frame (4), projection (26) on two pieces of pattern blocks (5) is upper mobile on the inclined-plane (22) of corresponding U-lag (23) respectively, make train wheel bridge (1) and lower plate (2) gap in-between or increase or reduction, for unclamping clamp position during increase, it is clamped condition during reduction.
A kind of precise pneumatic clamping manipulator pawl for sheet type workpiece the most according to claim 2, it is characterised in that: the gap between train wheel bridge (1) and lower plate (2) is 10～12mm.
A kind of precise pneumatic clamping manipulator pawl for sheet type workpiece the most according to claim 1, it is characterised in that: described detent mechanism includes positioning contact block bearing (14), location contact block (11), locating shaft (13) and contact block spring (12)；Described location contact block bearing (14) is upright tabular；Location contact block (11) is cylindric, and axial one end offers Blind locating holes；Locating shaft (13) is fixed on location contact block bearing (14), contact block spring (12) it is arranged with on locating shaft (13), location contact block (11) is set on locating shaft (13), and the two ends of contact block spring (12) respectively connected bearing (14) and location contact block (11)；Realize location contact block (11) movement on locating shaft (13) and return.
A kind of precise pneumatic clamping manipulator pawl for sheet type workpiece the most according to claim 1, it is characterised in that: the base plate (16) corresponding with the bare terminal end of a pair paw is provided with spacing bearing (15), and spacing bearing (15) is upright riser shape；The top of spacing bearing (15) correspond to position the bottom of contact block bearing (14), and the movement to location contact block bearing (14) plays position-limiting action.
A kind of precise pneumatic clamping manipulator pawl for sheet type workpiece the most according to claim 1, it is characterised in that: being respectively cooperating with being provided with slide block on described outer guide (24) and interior guide rail (20), described cooperation is the cooperation of dovetails and dovetail groove.
A kind of precise pneumatic clamping manipulator pawl for sheet type workpiece the most according to claim 1, it is characterized in that: on described pattern block (5), be respectively equipped with two straight pins (6), straight pin (6) is horizontal, and one end is overhanging, the overhanging end of straight pin (6) is pressed on the upper surface of lower plate (2), and the upper surface of lower plate (2) stops under being face (27).
A kind of precise pneumatic clamping manipulator pawl for sheet type workpiece the most according to claim 1, it is characterized in that: on two medial walls that described U-frame frame (4) is corresponding, be correspondingly provided with spacer pin (7) respectively, offering kidney slot (8) on the two sides of the sliding floor (3) corresponding with the spacer pin of both sides (7) respectively, the overhanging end of every spacer pin (7) is positioned at the kidney slot (8) of correspondence；The overhanging end of spacer pin (7) moves back and forth distance in kidney slot (8), and be between sliding floor (3) and U-frame frame (4) moves back and forth distance.
A kind of precise pneumatic clamping manipulator pawl for sheet type workpiece the most according to claim 1, it is characterised in that: described sliding floor (3) is U-board, with U-frame frame (4) in buckling state；The two ends of sliding floor (3) offer spacing blind hole respectively, with be provided with two spacing guide rods in the spacing blind hole corresponding U-frame frame (4) at two ends, spring (21) it is arranged with on every spacing guide rod, matched by spacing blind hole and spacing guide rod, it is achieved the relative movement between sliding floor (3) and U-frame frame (4).
A kind of precise pneumatic clamping manipulator pawl for sheet type workpiece the most according to claim 8, it is characterised in that: the displacement between described sliding floor (3) and U-frame frame (4) is 50～60mm.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520253277 | 2015-04-24 | ||
| CN2015202532775 | 2015-04-24 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205520613U true CN205520613U (en) | 2016-08-31 |
Family
ID=57140766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620277653.9U Withdrawn - After Issue CN205520613U (en) | 2015-04-24 | 2016-04-06 | A accurate pneumatic centre gripping mechanical gripper for sheet metal class work piece |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205520613U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643322A (en) * | 2015-04-24 | 2016-06-08 | 合肥工业大学 | Precise pneumatic clamping mechanical gripper for thin plate type workpiece |
| CN106493594A (en) * | 2016-12-09 | 2017-03-15 | 广东天机工业智能系统有限公司 | Positioning fixture |
| CN108789744A (en) * | 2018-07-19 | 2018-11-13 | 芜湖固高自动化技术有限公司 | A kind of wood composite pallet manufacturing and processing equipment |
| CN109985826A (en) * | 2019-05-06 | 2019-07-09 | 山东泓瑞光电科技有限公司 | A kind of LED wafer automatic fraction collector silicon chip mechanical hand collet |
| CN110091496A (en) * | 2019-05-14 | 2019-08-06 | 吉林省正轩车架有限公司 | A kind of thermoforming batch-type furnace pick-and-place material terminal-collecting machine |
-
2016
- 2016-04-06 CN CN201620277653.9U patent/CN205520613U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105643322A (en) * | 2015-04-24 | 2016-06-08 | 合肥工业大学 | Precise pneumatic clamping mechanical gripper for thin plate type workpiece |
| CN106493594A (en) * | 2016-12-09 | 2017-03-15 | 广东天机工业智能系统有限公司 | Positioning fixture |
| CN108789744A (en) * | 2018-07-19 | 2018-11-13 | 芜湖固高自动化技术有限公司 | A kind of wood composite pallet manufacturing and processing equipment |
| CN109985826A (en) * | 2019-05-06 | 2019-07-09 | 山东泓瑞光电科技有限公司 | A kind of LED wafer automatic fraction collector silicon chip mechanical hand collet |
| CN110091496A (en) * | 2019-05-14 | 2019-08-06 | 吉林省正轩车架有限公司 | A kind of thermoforming batch-type furnace pick-and-place material terminal-collecting machine |
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