CN205996989U - A kind of guide tracked air-actuated jaw - Google Patents
A kind of guide tracked air-actuated jaw Download PDFInfo
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- CN205996989U CN205996989U CN201621026117.8U CN201621026117U CN205996989U CN 205996989 U CN205996989 U CN 205996989U CN 201621026117 U CN201621026117 U CN 201621026117U CN 205996989 U CN205996989 U CN 205996989U
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- support arm
- gripper shoe
- connecting plate
- slide block
- gas pawl
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Abstract
A kind of guide tracked air-actuated jaw, it is related to a kind of cleaning machine robot clamp.This utility model deforms serious using clamping arm it is impossible to ensure precision to solve existing cleaning machine robot clamp for a long time, and the short problem of service life.The built-in guide rail in substrate lower end of the present utility model, the upper end of gas pawl is fixed in the middle part of the lower surface of substrate through guide rail, the right-hand member of gas pawl is connected with the inner side of first support arm by the first contiguous block, the left end of gas pawl is connected with the inner side of second support arm by the second contiguous block, first slide block and the second slide block are arranged in a left side for gas pawl, right both sides are all coordinated with guide rail, first slide block is fixedly connected with the outside of first support arm by First Transition plate, second slide block is fixedly connected with the outside of second support arm by the second rebound, the inside end of the inside end of first support arm and second support arm is all by the affixed multiple gripping blocks of multiple screws and multiple pin.This utility model is used in cleaning machine robot.
Description
Technical field
This utility model is related to air-actuated jaw and in particular to a kind of guide tracked air-actuated jaw of cleaning machine robot.
Background technology
Mechanical arm is the automated machine device obtaining broad practice in robot technical field, in industry system
Make, its figure can be seen in the field such as therapeutic treatment, entertainment service, semiconductor manufacturing and space probation.Although they
Form is had nothing in common with each other, but they have the characteristics that one common it is simply that instruction can be accepted, be precisely positioned to three-dimensional (or two
Dimension) certain point spatially carries out operation, the especially clamping operation to material.The clamp precision of existing cleaning machine robot
For 0.02mm, usage cycles, at 2100 hours, have that precision is low, usage cycles are short, the deformation of long-time use clamping arm is serious
Problem.
Utility model content
The purpose of this utility model be that existing cleaning machine robot clamp precision is low, usage cycles are short in order to solve and
Use the serious problem of clamping arm deformation for a long time, and then a kind of guide tracked air-actuated jaw is provided.
The technical solution of the utility model is：A kind of guide tracked air-actuated jaw include substrate, gas pawl, the first contiguous block,
Two contiguous blocks, first support arm, second support arm, guide rail, the first slide block, the second slide block, First Transition plate, the second rebound, two
Protection plate, multiple gripping block and multiple pin, the built-in guide rail in substrate lower end, the upper end of gas pawl is fixed in the lower surface of substrate through guide rail
Middle part, the right-hand member of gas pawl is connected with the inner side of first support arm by the first contiguous block, the left end of gas pawl pass through the second contiguous block with
The arranged on left and right sides that the inner side connection of second support arm, the first slide block and the second slide block are arranged in gas pawl is all coordinated with guide rail, the
One slide block is fixedly connected with the outside of first support arm by First Transition plate, and the second slide block passes through the second rebound and second support arm
Outside be fixedly connected, substrate is strip substrate, and two protection plates pass through multiple rivets respectively in zig direction
On two side end faces, the inside end of first support arm and the inside end of second support arm are all by the affixed multiple clampings of multiple screws
Block and multiple pin.
Two protection plates of the present utility model are rustless steel reinforcing plate.
Gas pawl of the present utility model is "convex" shaped gas pawl.
Guide rail of the present utility model is line slideway.
First Transition plate includes the first gripper shoe, the first connecting plate and the second connecting plate, and the first gripper shoe is right-angled trapezium
Gripper shoe, the first connecting plate and the second connecting plate are vertically fixedly connected, and two right-angle sides of the first gripper shoe are respectively with first even
Fishplate bar and the second connecting plate are fixedly connected.
Second rebound includes the second gripper shoe, the 3rd connecting plate and the 4th connecting plate, and the second gripper shoe is right-angled trapezium
Gripper shoe, the 3rd connecting plate and the 4th connecting plate are vertically fixedly connected, and two right-angle sides of the second gripper shoe are respectively with the 3rd even
Fishplate bar and the 4th connecting plate are fixedly connected.
First gripper shoe and the second gripper shoe are hollow out gripper shoe, and first support arm and second support arm are hollow out support arm,
Two protection plates are hollow out protection plate.
This utility model also includes cylinder, two guide rods and two sliding bearings, and cylinder is fixed in by multiple screws
The end of one support arm, two sliding bearings are installed in the end of first support arm, and each guide rod passes through a sliding bearing, and two
Individual guide rod is distributed in the both sides of cylinder and passes through first support arm and work pieces mate.
This utility model also includes wrist disk, linking arm and fixed plate, and fixed plate is fixed on substrate by multiple screws,
One end of linking arm is fixed in the upper center of substrate through fixed plate, and the other end of linking arm is socketed on wrist disk.
This utility model compared with prior art has the effect that：
1st, the precision of existing cleaning machine robot clamp is in more than 0.02mm, and exists and become using clamping arm for a long time
The serious problem of shape, this utility model passes through to increase line slideway on the moving cell of fixture so that line slideway and gas pawl
In support arm, meanwhile, the multiple gripping blocks 16 on leg extremities of the present utility model realize face pressure tightly with workpiece 28 to collective effect, many
Individual pin 17 is precisely coordinated it is ensured that the homework precision of fixture is so that the homework precision of fixture reaches with the pin-and-hole on workpiece 28
More than 0.001mm.
2nd, existing cleaning machine robot clamp usage cycles are 2100 hours, there is a problem of that service life is short, this reality
With new by increasing reinforcing plate in structure, enough reach and so that the working cycle of fixture is reached 45000 hours, and, due to strengthening
Plate can extend the use time of fixture using stainless steel so that it has good rustless property, makes the clamp-replacing cycle
Lengthen, the service life of robot extends more than twice.
3rd, the connected mode of support arm of the present utility model and fixture is mode connects for screw, installs easy with replacement operation, convenient
Change and easily part is lost, decrease the expense of maintenance, effectively alleviate the labor intensity on manpower, reduce enterprise and produce into
This 50%.
4th, part of the present utility model adopts hollow processing, reduces the overall weight of fixture, this utility model with
Existing fixture is compared, and the volume limiting fixture in structure increases, it is to avoid the entirety fortune of fixture excessive impact robot
OK.
5th, this utility model passes through to increase line slideway and reinforcing plate on the moving cell of fixture, increased the whole of fixture
Running body rigidity and precision, increased the service life of fixture, it is to avoid maintenance that fixture is brought due to short life and change zero
The problem that working time of part increases, this utility model decreases station, shortens work tempo, production efficiency improve 50% with
On, meanwhile, reduce water and the consumption of electricity.
Brief description
Fig. 1 is front view of the present utility model；Fig. 2 is Fig. 1 along the sectional view on F-F direction；Fig. 3 is Fig. 1 along E-E direction
On sectional view；Fig. 4 is operating diagram of the present utility model；Fig. 5 is the side view of Fig. 4.
Specific embodiment
Specific embodiment one：In conjunction with Fig. 1 to Fig. 5, present embodiment is described, one kind of present embodiment is guide tracked pneumatic
Fixture, it includes substrate 1, gas pawl 2, the first contiguous block 3, the second contiguous block 4, first support arm 5, second support arm 6, guide rail 7, first
Slide block 8, the second slide block 9, First Transition plate 10,11, two protection plates 12 of the second rebound, multiple gripping block 16 and multiple pin 17,
The built-in guide rail in substrate 1 lower end 7, the upper end of gas pawl 2 is fixed in the middle part of the lower surface of substrate 1 through guide rail 7, and the right-hand member of gas pawl 2 leads to
Cross the first contiguous block 3 to be connected with the inner side of first support arm 5, the left end of gas pawl 2 passes through the interior of the second contiguous block 4 and second support arm 6
The arranged on left and right sides that side connection, the first slide block 8 and the second slide block 9 are arranged in gas pawl 2 is all coordinated with guide rail 7, the first slide block 8
It is fixedly connected with the outside of first support arm 5 by First Transition plate 10, the second slide block 9 passes through the second rebound 11 and second support arm
6 outside is fixedly connected, and substrate 1 is strip substrate, two protection plates 12 respectively by multiple rivets in substrate 1 length side
To two side end faces on, the inside end of the inside end of first support arm 5 and second support arm 6 is all affixed many by multiple screws
Individual gripping block 16 and multiple pin 17.
Specific embodiment two：In conjunction with Fig. 1, Fig. 4 and Fig. 5, present embodiment, two protection plates 12 of present embodiment are described
For rustless steel reinforcing plate.It is arranged such, on the one hand, guide rail 7, the first slide block 8 and the second slide block 9 can be played a protective role,
On the other hand, increasing intensity gusset on clamp movement unit can increase the overall operation rigidity of fixture.Other forms and connects
Connect relation identical with specific embodiment one.
Specific embodiment three：In conjunction with Fig. 1 and Fig. 4, present embodiment is described, the gas pawl 2 of present embodiment is "convex" shaped
Gas pawl.It is arranged such, ensure that the first slide block 8 and the space of the second slide block 9, so that the first slide block 8 and the second slide block 9 is existed
Realize on guide rail 7 stretching out at equal intervals and shrinking.Other compositions are identical with specific embodiment one or two with annexation.
Specific embodiment four：In conjunction with Fig. 1, Fig. 4 and Fig. 5, present embodiment is described, the guide rail 7 of present embodiment is straight line
Guide rail.It is arranged such, the precision of fixture can be increased by line slideway is increased on clamp movement unit.Other forms and connects
Meet relation and specific embodiment one, two or three identical.
Specific embodiment five：In conjunction with Fig. 1 and Fig. 4, present embodiment is described, the First Transition plate 10 of present embodiment wraps
Include the first gripper shoe 21, the first connecting plate 23 and the second connecting plate 24, the first gripper shoe 21 is right-angled trapezium gripper shoe, and first even
Fishplate bar 23 is vertically fixedly connected with the second connecting plate 24, two right-angle sides of the first gripper shoe 21 respectively with the first connecting plate 23 and
Second connecting plate 24 is fixedly connected.It is arranged such so that the first gripper shoe 21 is to the first connecting plate 23 and the second connecting plate 24
To the effect supporting, enable to the first slide block 8 more firm with the connection of first support arm 5 simultaneously.Other compositions and connection are closed
System is identical with specific embodiment one, two, three or four.
Specific embodiment six：In conjunction with Fig. 1 and Fig. 4, present embodiment is described, the second rebound 11 of present embodiment wraps
Include the second gripper shoe 22, the 3rd connecting plate 25 and the 4th connecting plate 26, the second gripper shoe 22 is right-angled trapezium gripper shoe, and the 3rd even
Fishplate bar 25 is vertically fixedly connected with the 4th connecting plate 26, two right-angle sides of the second gripper shoe 22 respectively with the 3rd connecting plate 25 and
4th connecting plate 26 is fixedly connected.It is arranged such so that the second gripper shoe 22 is to the 3rd connecting plate 25 and the 4th connecting plate 26
To the effect supporting, enable to the second slide block 9 more firm with the connection of second support arm 6 simultaneously.Other compositions and connection are closed
System is identical with specific embodiment one, two, three, four or five.
Specific embodiment seven：In conjunction with Fig. 1 to Fig. 3, present embodiment, the first gripper shoe 21 He of present embodiment are described
Second gripper shoe 22 is hollow out gripper shoe, and first support arm 5 and second support arm 6 are hollow out support arm, and two protection plates 12 are and engrave
Empty protection plate.It is arranged such, the overall weight of fixture can be reduced, thus avoiding affecting the overall operation of fixture.Other compositions and
Annexation and specific embodiment one, two, three, four, five or six are identical.
Specific embodiment eight：In conjunction with Fig. 1 and Fig. 4, present embodiment is described, present embodiment also includes 18, two, cylinder
Guide rod 19 and two sliding bearings 20, cylinder 18 is fixed in the end of first support arm 5, two sliding bearings 20 by multiple screws
It is installed in the end of first support arm 5, each guide rod 19 passes through a sliding bearing 20, and two guide rods 19 are distributed in cylinder 18
Both sides and coordinate through first support arm 5 with workpiece 28.It is arranged such, be capable of between the locating slot on fixture and workpiece
Precisely cooperation is it is ensured that the homework precision of fixture.Other compositions and annexation and specific embodiment one, two, three, four, five,
Six or seven is identical.
Specific embodiment nine：In conjunction with Fig. 1, Fig. 4 and Fig. 5, present embodiment is described, present embodiment also includes wrist disk
13rd, linking arm 14 and fixed plate 15, fixed plate 15 is affixed on substrate 1 by multiple screws, and one end of linking arm 14 passes through admittedly
Fixed board 15 is fixed in the upper center of substrate 1, and the other end of linking arm 14 is socketed on wrist disk 13.It is arranged such, Neng Goushi
The cooperation between robot outside existing fixture and fixture.Other compositions and annexation and specific embodiment one, two, three,
4th, five, six, seven or eight are identical.
Operation principle：
When using, gas pawl 2 passes through the first contiguous block 3 to this utility model and the second contiguous block 4 imparts power to first
Support arm 5 and second support arm 6, first support arm 5 and second support arm 6 are passed through First Transition plate 10 and the second rebound 11 respectively and are driven the
One slide block 8 and the second slide block 9 slide on guide rail 7, and gas pawl 2 and the first slide block 8 collective effect clamp first support arm 5, gas pawl 2 He
Second slide block 9 collective effect clamps second support arm 6, thus realizing the clamping to workpiece for the fixture, first support arm 5 and second support arm 6
Matching multiple gripping blocks 16 and multiple pin can be coordinated according to different workpiece 28, meanwhile, according to different workpiece 28, energy
Enough add in the end of first support arm and put 18, two guide rods 19 of cylinder and matched two sliding bearings 20, be allowed to and workpiece
Locating slot cooperation on 18, this utility model, by above-mentioned three kinds of clamping engagement collective effects, to ensure the required precision of fixture.
Embodiment：
This utility model can be applied in grabbing workpiece mechanism of cleaning machine robot, and the grabbing workpiece implemented at present is vapour
The gray iron of car engine and bent axle.Its running precision and performance indications, are in operation reliable and stable, actual effect is good.
Claims (9)
1. a kind of guide tracked air-actuated jaw it is characterised in that：It include substrate (1), gas pawl (2), the first contiguous block (3), second
Contiguous block (4), first support arm (5), second support arm (6), guide rail (7), the first slide block (8), the second slide block (9), First Transition plate
(10), the second rebound (11), two protection plates (12), multiple gripping block (16) and multiple pin (17), substrate (1) lower end is built-in to lead
Rail (7), the upper end of gas pawl (2) is fixed in the middle part of the lower surface of substrate (1) through guide rail (7), and the right-hand member of gas pawl (2) passes through first
Contiguous block (3) is connected with the inner side of first support arm (5), and the left end of gas pawl (2) passes through the second contiguous block (4) and second support arm (6)
Inner side connect, the arranged on left and right sides that the first slide block (8) and the second slide block (9) are arranged in gas pawl (2) is all joined with guide rail (7)
Close, the first slide block (8) is fixedly connected with the outside of first support arm (5) by First Transition plate (10), the second slide block (9) is by the
Two rebounds (11) are fixedly connected with the outside of second support arm (6), and substrate (1) is strip substrate, and two protection plates (12) are respectively
By multiple rivets on two side end faces of substrate (1) length direction, the inside end of first support arm (5) and second
The inside end of arm (6) is all by the affixed multiple gripping blocks (16) of multiple screws and multiple pin (17).
2. a kind of guide tracked air-actuated jaw according to claim 1 it is characterised in that：Two protection plates (12) are rustless steel
Reinforcing plate.
3. a kind of guide tracked air-actuated jaw according to claim 2 it is characterised in that：Gas pawl (2) is "convex" shaped gas pawl.
4. a kind of guide tracked air-actuated jaw according to claim 3 it is characterised in that：Guide rail (7) is line slideway.
5. a kind of guide tracked air-actuated jaw according to claim 4 it is characterised in that：First Transition plate (10) includes first
Gripper shoe (21), the first connecting plate (23) and the second connecting plate (24), the first gripper shoe (21) is right-angled trapezium gripper shoe, first
Connecting plate (23) is vertically fixedly connected with the second connecting plate (24), and two right-angle sides of the first gripper shoe (21) are respectively with first even
Fishplate bar (23) is fixedly connected with the second connecting plate (24).
6. a kind of guide tracked air-actuated jaw according to claim 5 it is characterised in that：Second rebound (11) includes second
Gripper shoe (22), the 3rd connecting plate (25) and the 4th connecting plate (26), the second gripper shoe (22) is right-angled trapezium gripper shoe, the 3rd
Connecting plate (25) is vertically fixedly connected with the 4th connecting plate (26), and two right-angle sides of the second gripper shoe (22) are respectively with the 3rd even
Fishplate bar (25) is fixedly connected with the 4th connecting plate (26).
7. a kind of guide tracked air-actuated jaw according to claim 6 it is characterised in that：First gripper shoe (21) and second
Fagging (22) is hollow out gripper shoe, and first support arm (5) and second support arm (6) are hollow out support arm, and two protection plates (12) are
Hollow out protection plate.
8. a kind of guide tracked air-actuated jaw according to claim 7 it is characterised in that：It also include cylinder (18), two
Guide rod (19) and two sliding bearings (20), cylinder (18) is fixed in the end of first support arm (5), two cunnings by multiple screws
Dynamic bearing (20) is installed in the end of first support arm (5), and each guide rod (19) passes through a sliding bearing (20), and two are led
Bar (19) is distributed in the both sides of cylinder (18) and passes through first support arm (5) to be coordinated with workpiece (28).
9. a kind of guide tracked air-actuated jaw according to claim 1 or 8 it is characterised in that：It also include wrist disk (13),
Linking arm (14) and fixed plate (15), fixed plate (15) is fixed on substrate (1) by multiple screws, one end of linking arm (14)
It is fixed in the upper center of substrate (1) through fixed plate (15), the other end of linking arm (14) is socketed on wrist disk (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621026117.8U CN205996989U (en) | 2016-08-31 | 2016-08-31 | A kind of guide tracked air-actuated jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621026117.8U CN205996989U (en) | 2016-08-31 | 2016-08-31 | A kind of guide tracked air-actuated jaw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205996989U true CN205996989U (en) | 2017-03-08 |
Family
ID=58194091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621026117.8U Active CN205996989U (en) | 2016-08-31 | 2016-08-31 | A kind of guide tracked air-actuated jaw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205996989U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108045926A (en) * | 2017-11-16 | 2018-05-18 | 郑州诚合信息技术有限公司 | A kind of protection palm for building grabs brick device |
| CN109648597A (en) * | 2018-12-28 | 2019-04-19 | 盛瑞传动股份有限公司 | Robot clamp hand |
-
2016
- 2016-08-31 CN CN201621026117.8U patent/CN205996989U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108045926A (en) * | 2017-11-16 | 2018-05-18 | 郑州诚合信息技术有限公司 | A kind of protection palm for building grabs brick device |
| CN108045926B (en) * | 2017-11-16 | 2020-02-07 | 湖北宇瑞建筑工程有限公司 | Brick device of grabbing of protection palm for building |
| CN109648597A (en) * | 2018-12-28 | 2019-04-19 | 盛瑞传动股份有限公司 | Robot clamp hand |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |