CN209256984U - A kind of pneumatic three-jaw clamping device for desktop machine people - Google Patents
A kind of pneumatic three-jaw clamping device for desktop machine people Download PDFInfo
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- CN209256984U CN209256984U CN201822169806.XU CN201822169806U CN209256984U CN 209256984 U CN209256984 U CN 209256984U CN 201822169806 U CN201822169806 U CN 201822169806U CN 209256984 U CN209256984 U CN 209256984U
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- clamping device
- sliding block
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Abstract
The utility model discloses a kind of pneumatic three-jaw clamping devices for desktop machine people, mounting base top is fixedly installed cylinder, mounting base lower part side is equipped with support, support is fixedly connected with mounting base by hollow sleeve, cylinder piston rod end is fixedly connected with sliding block, is set on sliding block circumferencial direction there are three articulated jib；Linking arm lower part side is equipped with clamping jaw, and the clamping jaw top is equipped with lug, and lug is equipped with the first pin hole, and the first pin hole is flexibly connected by pin shaft with linking arm；Lug lower part side is equipped with the second pin hole；Clamping jaw side is equipped with connecting rod, and connecting rod one end is flexibly connected by pin shaft with the articulated jib of sliding block, and the other end is flexibly connected by pin shaft with the second pin hole of clamping jaw.The utility model uses three clamping jaws being evenly arranged in a circumferential direction, it is good can not only to grab effect to material automatic centering, but also improve the crawl efficiency of material, enhance the effect of teaching demonstration and practice.
Description
Technical field
The utility model belongs to robotic technology field, in particular to a kind of pneumatic three-jaw for desktop machine people clamps
Device.
Background technique
Desktop machine people is located in the robot on desktop as its name suggests, can be applied in teaching, training practice,
Material will be identified, grab, classify etc. and be operated that existing mechanical arm is grabbed by simulating the movement of manpower by mechanical arm
Take device to be generally vacuum suction or two pawl clamping devices, this kind of grabbing device for plane class material crawl effect compared with
Good, but for the material of the nonplanar structures such as ball, cylinder class, metamer, vacuum absorption device, which then has the phenomenon that gas leakage, leads
Cause material adsorption capacity not strong, and two pawl clamping devices are since it is difficult to in when grab such material, cause to grab effect compared with
Difference is unfavorable for teaching demonstration and practice.
Summary of the invention
The purpose of the utility model is to overcome deficiencies in the prior art, provide a kind of pneumatic three for desktop machine people
Pawl clamping device uses three clamping jaws being evenly arranged in a circumferential direction, can not only grab effect to material automatic centering
It is good, and the crawl efficiency of material is improved, enhance the effect of teaching demonstration and practice.
To achieve the goals above, the technical solution adopted in the utility model is:
A kind of pneumatic three-jaw clamping device for desktop machine people, including cylinder, mounting base, clamping jaw, the mounting base
Top is fixedly installed cylinder, and cylinder is connected to by tracheae with compressed gas, and mounting base is connect with the mechanical arm of desktop machine people；
Mounting base lower part side is equipped with support, and support is fixedly connected with mounting base by hollow sleeve, and support is equipped at center
Through sleeve inner and support lower part is extended to the piston rod of the through-hole of sleeve cooperation, cylinder, cylinder piston rod end is fixed
It is connected with sliding block, is set on the sliding block circumferencial direction there are three articulated jib, the angle between adjacent hinge arm is 120 °；The branch
Seat lower part side be equipped with the one-to-one linking arm of articulated jib, linking arm lower part side is equipped with clamping jaw, on the clamping jaw
Portion is equipped with lug, and lug is equipped with the first pin hole, and the first pin hole is flexibly connected by pin shaft with linking arm；Lug lower part side is set
There is the second pin hole, is arcuate structure inside and outside clamping jaw lower part, increases the contact area of clamping jaw and material, enhance clamping jaw
Clamping effect；The clamping jaw side is equipped with connecting rod, and connecting rod one end is flexibly connected by pin shaft with the articulated jib of sliding block, the other end
It is flexibly connected by pin shaft with the second pin hole of clamping jaw.
When to being clamped outside material, the mechanical arm of desktop machine people is connect with mounting base, the piston rod elongated of cylinder
Movable slider moves down, and sliding block drives clamping jaw to expand outwardly and opens clamping jaw, clamping device is moved to material top, so by connecting rod
The piston rod shrinkage band movable slider for controlling cylinder afterwards moves up, and sliding block drives clamping jaw inwardly to firmly grasp material by connecting rod；Centering empty
When expecting internal clamp, the piston rod shrinkage band movable slider of cylinder, which moves up, shrinks clamping jaw, then clamping jaw is placed in hollow material
Inside, the piston rod elongated movable slider for then controlling cylinder move down, and sliding block drives clamping jaw to expand outwardly clamping jaw by connecting rod
Opening makes cambered surface outside clamping jaw resist hollow wall clamping material, and three clamping jaws can be automatically right to nonplanar special-shaped material
In, it is good not only to grab effect, but also improve the crawl efficiency of material, enhances the effect of teaching demonstration and practice.
Preferably, the holder top is equipped with several through-holes, and linking arm top is equipped with threaded hole corresponding with through-hole, connection
Arm is removably installed with support by screw；When linking arm damage, screw is loosened by the linking arm of damage and unloads replacement, is dropped
Low three-jaw clamping device subsequent use, maintenance cost.
Preferably, the articulated jib of the sliding block is equipped with U-lag, and connecting rod is mounted on inside U-lag；U-lag makes pin shaft
Both ends constitute simply supported beam, enhance the intensity of pin shaft support, extend the service life of pin shaft.
Preferably, the pin shaft both ends are equipped with card slot, are connected with elastomeric pad in card slot, elastomeric pad be it is arc-shaped,
Opening is V-shaped and opening angle is less than 90 °, and elastomeric pad is equipped with several boss, and elastomeric pad is connected to card by boss
Inside slot, convenient for the fast assembling-disassembling of pin shaft.
Preferably, the piston-rod end of the sliding block and cylinder is detachably connected by bolt, not only increases sliding block
The efficiency of assembly, and reduce the subsequent replacement of sliding block, maintenance cost.
Preferably, bolt lower part side is fixedly connected with knob, and knob is not required to sliding block when installing with piston rod
Installation can be completed by specific purpose tool, improve the efficiency of the assembly of sliding block.
Preferably, the knob circumferencial direction is equipped with undulatory anti-skidding boss, and anti-skidding boss increases knob and hand
Frictional force between the palm, convenient for exerting a force when sliding block assembly.
Preferably, the sliding block top is fixedly installed with connector, and connector is equipped with keyway, and the cylinder piston rod end is set
There is the key with keyway cooperation, the key of piston rod and the keyway of connector are coupled living when avoiding the fixed sliding block of bolt and piston rod
Stopper rod occurs axis and turns.
Preferably, the cambered surface inside and outside the clamping jaw lower part be equipped with several wave grooves, wave groove increase clamping jaw with
Frictional force between gripped object enhances the clamping effect of material.
Preferably, rubber sleeve is equipped with outside the clamping jaw, rubber sleeve has the function of buffering, avoids clamping jaw to clamped
Object damages.
The beneficial effects of the utility model are:
1. a three-jaw clamping device uses three clamping jaws being evenly arranged in a circumferential direction, can be automatically right to material
In, it is good not only to grab effect, but also improve the crawl efficiency of material, enhances the effect of teaching demonstration and practice.
2. on the support portion be provided with several through-holes, linking arm top be equipped with threaded hole corresponding with through-hole, linking arm with
Support is removably installed by screw；When linking arm damage, screw is loosened by the linking arm of damage and unloads replacement, is reduced
Three-jaw clamping device subsequent use, maintenance cost.
3. the articulated jib of sliding block is equipped with U-lag, connecting rod is mounted on inside U-lag；U-lag makes pin shaft both ends constitute letter
Strutbeam enhances the intensity of pin shaft support, extends the service life of pin shaft.
4. pin shaft both ends are equipped with card slot, be connected with elastomeric pad in card slot, elastomeric pad be it is arc-shaped, opening is in V
Shape and opening angle is less than 90 °, elastomeric pad are equipped with several boss, and elastomeric pad is connected to inside card slot by boss, just
In the fast assembling-disassembling of pin shaft.
5. the piston-rod end of sliding block and cylinder is detachably connected by bolt, the effect of sliding block assembly is not only increased
Rate, and reduce the subsequent replacement of sliding block, maintenance cost.
6. bolt lower part side is fixedly connected with knob, knob does not need sliding block by dedicated when installing with piston rod
Installation can be completed in tool, improves the efficiency of the assembly of sliding block.
7. knob circumferencial direction is equipped with undulatory anti-skidding boss, anti-skidding boss increases the friction between knob and palm
Power, convenient for exerting a force when sliding block assembly.
8. sliding block top is fixedly installed with connector, connector is equipped with keyway, and the cylinder piston rod end is equipped with and keyway
The key of cooperation, the key of piston rod and the keyway of connector are coupled piston rod when avoiding the fixed sliding block of bolt and piston rod and occur
Axis turns.
9. the cambered surface inside and outside clamping jaw lower part is equipped with several wave grooves, wave groove is increased between clamping jaw and gripped object
Frictional force, enhance the clamping effect of material.
10. being equipped with rubber sleeve outside clamping jaw, rubber sleeve has the function of buffering, avoids clamping jaw and causes to damage to gripped object
It is bad.
Detailed description of the invention
Attached drawing 1 is a kind of pneumatic three-jaw clamping device structural schematic diagram for desktop machine people of the utility model.
Attached drawing 2 is clamping jaw installation signal in a kind of pneumatic three-jaw clamping device for desktop machine people of the utility model
Figure.
Attached drawing 3 is that slide block structure is illustrated in a kind of pneumatic three-jaw clamping device for desktop machine people of the utility model
Figure.
Attached drawing 4 is that clamping jaw structure is illustrated in a kind of pneumatic three-jaw clamping device for desktop machine people of the utility model
Figure.
Attached drawing 5 is pin shaft installation signal in a kind of pneumatic three-jaw clamping device for desktop machine people of the utility model
Figure.
Attached drawing 6 is that elastomer gasket construction shows in a kind of pneumatic three-jaw clamping device for desktop machine people of the utility model
It is intended to.
In figure: 1, cylinder；2, mounting base；3, support；4, sleeve；5, linking arm；6, screw；7, pin shaft；8, card slot；9, bullet
Property gasket；10, boss；11, sliding block；12, connector；13, keyway；14, U-lag；15, connecting rod；16, bolt；17, knob；18, it presss from both sides
Pawl；19, wave groove；20, lug；21, the first pin hole；22, the second pin hole；23, rubber sleeve；
Specific embodiment
Below in conjunction with attached drawing 1-6, the technical scheme in the utility model embodiment is clearly and completely described,
Obviously, the described embodiments are only a part of the embodiments of the utility model, instead of all the embodiments.It is practical based on this
Embodiment in novel, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, is fallen within the protection scope of the utility model.
In the description of the present invention, it should be understood that term " longitudinal direction ", " transverse direction ", "upper", "lower", " preceding ",
The orientation or positional relationship of the instructions such as " rear ", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" be based on
Orientation or positional relationship shown in the drawings is merely for convenience of description the utility model, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to the utility model
Limitation.
A kind of pneumatic three-jaw clamping device for desktop machine people, including cylinder 1, mounting base 2, support 3, clamping jaw 18,
2 top of mounting base is fixedly installed cylinder 1, and cylinder 1 is connected to by tracheae with compressed gas, mounting base 2 and desktop machine
The mechanical arm of people connects；It is fixed by hollow sleeve 4 that the 2 lower part side of mounting base is equipped with support 3, support 3 and mounting base 2
It connects, the through-hole cooperated with sleeve 4 is equipped at 3 center of support, the piston rod of cylinder 1 through 4 inside of sleeve and extends to support 3
Lower part, 1 piston-rod end of cylinder are fixedly connected with sliding block 11, are set on 11 circumferencial direction of sliding block there are three articulated jib, adjacent
Angle between articulated jib is 120 °；The 3 lower part side of support is equipped with and the one-to-one linking arm 5 of articulated jib, the company
5 lower part side of arm being connect equipped with clamping jaw 18,18 top of clamping jaw is equipped with lug 20, and lug 20 is equipped with the first pin hole 21, and first
Pin hole 21 is flexibly connected by pin shaft 7 with linking arm 5；20 lower part side of lug is equipped with the second pin hole 22, inside and outside 18 lower part of clamping jaw
Two sides are arcuate structure, increase the contact area of clamping jaw 18 Yu material, enhance the clamping effect of clamping jaw 18；The clamping jaw
18 sides are equipped with connecting rod 15, and 15 one end of connecting rod is flexibly connected by pin shaft 7 with the articulated jib of sliding block 11, and the other end passes through pin shaft 7
It is flexibly connected with the second pin hole 22 of clamping jaw 18.
When to being clamped outside material, the mechanical arm of desktop machine people is connect with mounting base 2, the piston rod elongation of cylinder 1
Band movable slider 11 moves down, and sliding block 11 drives clamping jaw 18 to expand outwardly and opens clamping jaw 18 by connecting rod 15, and clamping device is mobile
To material top, the piston rod shrinkage band movable slider 11 for then controlling cylinder 1 is moved up, and sliding block 11 drives clamping jaw 18 by connecting rod 15
Inwardly firmly grasp material；When centering empty material internal clamp, the piston rod shrinkage band movable slider 11 of cylinder 1, which moves up, receives clamping jaw 18
Clamping jaw 18, is then placed in inside hollow material by contracting, and the piston rod elongated movable slider 11 for then controlling cylinder 1 moves down, sliding
Block 11 drives clamping jaw 18 to expand outwardly by connecting rod 15 makes 18 outside cambered surface of clamping jaw resist hollow wall clamping the opening of clamping jaw 18
Material, three clamping jaws 18 it is good can not only to grab effect, but also improve material to nonplanar special-shaped material automatic centering
Efficiency is grabbed, the effect of teaching demonstration and practice is enhanced.
3 top of support be equipped with several through-holes, 5 top of linking arm be equipped with threaded hole corresponding with through-hole, linking arm 5 with
Support 3 is removably installed by screw 6；When linking arm 5 damages, screw 6 is loosened by the linking arm 5 of damage and unloads replacement,
Reduce three-jaw clamping device subsequent use, maintenance cost.
The articulated jib of the sliding block 11 is equipped with U-lag 14, and connecting rod 15 is mounted on inside U-lag 14；U-lag 14 makes pin
7 both ends of axis constitute simply supported beam, enhance the intensity of the support of pin shaft 7, extend the service life of pin shaft 7.
7 both ends of pin shaft are equipped with card slot 8, and elastomeric pad 9 is connected in card slot 8, and elastomeric pad 9 is arc-shaped, elasticity
The arc-shaped opening of gasket is V-shaped and opening angle is less than 90 °, and elastomeric pad 9 is equipped with several boss 10, elastomeric pad 9
It is connected to inside card slot 8 by boss 10, convenient for the fast assembling-disassembling of pin shaft 7.
The piston-rod end of the sliding block 11 and cylinder 1 is detachably connected by bolt 16, not only increases sliding block 11
The efficiency of assembly, and reduce the subsequent replacement of sliding block 11, maintenance cost.
The 16 lower part side of bolt is fixedly connected with knob 17, and knob 17 is not required to sliding block 11 when installing with piston rod
Installation can be completed by specific purpose tool, improve the efficiency of the assembly of sliding block 11.
17 circumferencial direction of knob is equipped with undulatory anti-skidding boss 10, and anti-skidding boss 10 increases knob 17 and hand
Frictional force between the palm, convenient for exerting a force when the assembly of sliding block 11.
11 top of sliding block is fixedly installed with connector 12, and connector 12 is equipped with keyway 13,1 piston-rod end of cylinder
Equipped with the key cooperated with keyway 13, the key of piston rod and the keyway 13 of connector 12 are coupled and avoid the fixed sliding block 11 of bolt 16
Axis occurs with piston rod when piston rod to turn.
Cambered surface inside and outside 18 lower part of clamping jaw is equipped with several wave grooves 19, wave groove 19 increase clamping jaw 18 with
Frictional force between gripped object enhances the clamping effect of material.
Rubber sleeve 23 is equipped with outside the clamping jaw 18, rubber sleeve 23 has the function of buffering, avoids 18 pairs of clamping jaw and pressed from both sides
Object is held to damage.
Above content is only the structure example and explanation to the utility model, the technologies of affiliated the art
Personnel make various modifications or additions to the described embodiments or are substituted in a similar manner, without departing from
The structure of utility model or beyond the scope defined by this claim, all should belong to the protection range of the utility model.
Claims (10)
1. a kind of pneumatic three-jaw clamping device for desktop machine people, including cylinder, mounting base, clamping jaw, which is characterized in that institute
It states mounting base top and is fixedly installed cylinder, cylinder is connected to by tracheae with compressed gas, the machine of mounting base and desktop machine people
The connection of tool arm；Mounting base lower part side is equipped with support, and support is fixedly connected with mounting base by hollow sleeve, in support
The through-hole cooperated with sleeve is equipped at the heart, the piston rod of cylinder through sleeve inner and extends to support lower part, cylinder piston rod
End is fixedly connected with sliding block, is set on the sliding block circumferencial direction there are three articulated jib, and the angle between adjacent hinge arm is
120°；Support lower part side, which is equipped with, is equipped with clamping jaw with the one-to-one linking arm of articulated jib, linking arm lower part side,
The clamping jaw top is equipped with lug, and lug is equipped with the first pin hole, and the first pin hole is flexibly connected by pin shaft with linking arm；Lug
Lower part side is equipped with the second pin hole, is arcuate structure inside and outside clamping jaw lower part；The clamping jaw side is equipped with connecting rod, connecting rod one
End is flexibly connected by pin shaft with the articulated jib of sliding block, and the other end is flexibly connected by pin shaft with the second pin hole of clamping jaw.
2. a kind of pneumatic three-jaw clamping device for desktop machine people as described in claim 1, which is characterized in that the branch
Seat top is equipped with several through-holes, and linking arm top is equipped with threaded hole corresponding with through-hole, and linking arm is removable by screw with support
The installation unloaded.
3. a kind of pneumatic three-jaw clamping device for desktop machine people as described in claim 1, which is characterized in that the cunning
The articulated jib of block is equipped with U-lag, and connecting rod is mounted on inside U-lag.
4. a kind of pneumatic three-jaw clamping device for desktop machine people as described in claim 1, which is characterized in that the pin
Axis both ends are equipped with card slot, are connected with elastomeric pad in card slot, elastomeric pad be it is arc-shaped, the arc-shaped opening of elastomeric pad is in
V-arrangement and opening angle is less than 90 °, elastomeric pad are equipped with several boss, and elastomeric pad is connected to inside card slot by boss.
5. a kind of pneumatic three-jaw clamping device for desktop machine people as described in claim 1, which is characterized in that the cunning
The piston-rod end of block and cylinder is detachably connected by bolt.
6. a kind of pneumatic three-jaw clamping device for desktop machine people as claimed in claim 5, which is characterized in that the spiral shell
Bolt lower part side is fixedly connected with knob.
7. a kind of pneumatic three-jaw clamping device for desktop machine people as claimed in claim 6, which is characterized in that the rotation
Button circumferencial direction is equipped with undulatory anti-skidding boss.
8. a kind of pneumatic three-jaw clamping device for desktop machine people as described in any claim in claim 5-7,
It is characterized in that, the sliding block top is fixedly installed with connector, connector is equipped with keyway, the cylinder piston rod end be equipped with
The key of keyway cooperation.
9. a kind of pneumatic three-jaw clamping device for desktop machine people as described in claim 1, which is characterized in that the folder
Cambered surface inside and outside pawl lower part is equipped with several wave grooves.
10. a kind of pneumatic three-jaw clamping device for desktop machine people as described in claim 1, which is characterized in that described
Rubber sleeve is equipped with outside clamping jaw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822169806.XU CN209256984U (en) | 2018-12-21 | 2018-12-21 | A kind of pneumatic three-jaw clamping device for desktop machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822169806.XU CN209256984U (en) | 2018-12-21 | 2018-12-21 | A kind of pneumatic three-jaw clamping device for desktop machine people |
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| Publication Number | Publication Date |
|---|---|
| CN209256984U true CN209256984U (en) | 2019-08-16 |
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ID=67560893
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822169806.XU Active CN209256984U (en) | 2018-12-21 | 2018-12-21 | A kind of pneumatic three-jaw clamping device for desktop machine people |
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| Country | Link |
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| CN (1) | CN209256984U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110802581A (en) * | 2019-11-29 | 2020-02-18 | 山东大学 | Reconfigurable modular robot side connecting mechanism and robot |
| CN113211469A (en) * | 2021-03-25 | 2021-08-06 | 国网山东省电力公司东平县供电公司 | Automatic snatch manipulator |
| CN117884892A (en) * | 2024-02-18 | 2024-04-16 | 山东沪金精工科技股份有限公司 | Poor-shell PIC cover processing device and process |
-
2018
- 2018-12-21 CN CN201822169806.XU patent/CN209256984U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110802581A (en) * | 2019-11-29 | 2020-02-18 | 山东大学 | Reconfigurable modular robot side connecting mechanism and robot |
| CN110802581B (en) * | 2019-11-29 | 2021-02-09 | 山东大学 | Reconfigurable modular robot side connecting mechanism and robot |
| CN113211469A (en) * | 2021-03-25 | 2021-08-06 | 国网山东省电力公司东平县供电公司 | Automatic snatch manipulator |
| CN117884892A (en) * | 2024-02-18 | 2024-04-16 | 山东沪金精工科技股份有限公司 | Poor-shell PIC cover processing device and process |
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