CN209999218U

CN209999218U - Matrix piston gripper

Info

Publication number: CN209999218U
Application number: CN201920839285.6U
Authority: CN
Inventors: 杨世光; 冯攀; 张忠法
Original assignee: JINAN ROBOT PHOENIX AUTOMATION SCIENCE & TECHNOLOGY Co Ltd
Current assignee: JINAN ROBOT PHOENIX AUTOMATION SCIENCE & TECHNOLOGY Co Ltd
Priority date: 2019-06-04
Filing date: 2019-06-04
Publication date: 2020-01-31
Anticipated expiration: 2029-06-04

Abstract

The matrix type piston gripper is connected with a robot arm and comprises at least two air cavities, the air cavities are fixedly connected with a cover plate in a sealing mode, mounting holes are arranged on the cover plate in a matrix mode, piston assemblies are mounted corresponding to each mounting hole in a sealing mode, each piston assembly comprises a piston rod and a piston seat, the sides of the cover plate for mounting the air cavities are opposite, vent holes are formed in the air cavities, the corresponding piston rods on the two air cavities extend out to clamp objects when positive pressure gas is introduced into the air cavities, and the corresponding piston rods on the two air cavities release the objects when negative pressure gas is introduced into the air cavities.

Description

Matrix piston gripper

Technical Field

The utility model relates to a machinery tongs technical field, in particular to matrix piston tongs.

Background

The field of mechanical grippers is needed, most of the grippers simply suck objects or pieces clamp the objects when gripping the objects, the action list is that if the gripped objects are irregular block-shaped nonmagnetic objects with sizes being different from , the volume difference is overlarge and the surfaces are irregular, the existing grippers basically cannot meet gripping requirements or the grippers with sizes being different from need to be replaced repeatedly in the gripping process, if the gripped objects are high-temperature liquid or semi-solid, the shape is fragile, deformation easily occurs, the gripping of the objects with the whole surfaces evenly stressed or the bearing capacity of other surfaces limited in the gripping process is needed, and the existing grippers are difficult to meet the requirements.

SUMMERY OF THE UTILITY MODEL

For overcoming the problem that exists among the prior art, the utility model provides a matrix piston tongs.

The utility model provides a technical scheme that its technical problem was taken is this matrix piston tongs, the tongs is connected with the robot arm, including two at least air cavities, air cavity and the sealed fixed connection of apron, the mounting hole that has the matrix to arrange on the apron, correspond the equal seal installation of every mounting hole and have piston components, piston components includes piston rod and piston holder, and the side of air cavity installation apron is relative, has the air vent on the air cavity, and the piston rod that corresponds on two air cavities stretches out to press from both sides when the air cavity lets in positive pressure gas and gets the object, and the piston rod that corresponds on two air cavities releases the object when the air cavity lets in negative pressure gas.

, the piston assemblies are arranged uniformly in an N by N rectangular array.

, the piston assemblies are arranged uniformly in a circular array.

, the piston assemblies are identical in size and shape.

, the piston rod is made of stainless steel or solid rubber.

, the piston seat is fixed on the mounting hole, the piston cavity is arranged in the center of the piston seat, the end of the piston is provided with a stopper, the end is a free end, the end with the stopper is arranged in the piston cavity and is in close contact with the inner wall of the piston cavity, the free end extends out of the piston seat, and the end part of the free end is hemispherical.

, the free end of the piston has an anti-slip texture on its outer surface.

To sum up, the utility model discloses an above-mentioned technical scheme's beneficial effect as follows:

the matrix type piston grippers adopt dense dot matrix type piston grippers, can grip 5 mm-10 mm objects and 100 mm-500 mm objects with auxiliary grippers, are provided with needle bed type planes which are popped up, the planes are uniformly stressed, the stress of a single needle is extremely small, the single needle can be in good contact with irregular objects, the objects with soft surfaces can be supported in a fully-enclosed mode, the gripping of the irregular objects and the soft objects on the surfaces can be essentially solved, in addition, various combination modes are provided for different occasions, the gripping device can be stressed on two sides, three sides, … … or even ten sides, and the problem which cannot be solved by the existing grippers is perfectly solved.

Drawings

Fig. 1 is a schematic view of the three-dimensional structure of the present invention.

Fig. 2 is a front view of fig. 1.

Fig. 3 is a cross-sectional view of fig. 2A-a.

Fig. 4 is a schematic view showing the structure of air chambers in the retracted state of the piston rod.

Fig. 5 is a sectional view B-B of fig. 4.

In the figure:

1 air cavity, 2 apron, 3 piston seats, 4 piston rods, 5 objects, 6 air vents, 7 piston cavities, 8 stop heads.

Detailed Description

The features and principles of the present invention will be described in detail below with reference to the accompanying drawings, and the illustrated embodiments are only for explaining the present invention, and do not limit the scope of the present invention.

As shown in figure 1, the basic part of the invention is formed by assembling an air cavity 1, a cover plate 2 and a piston assembly, wherein the cover plate 2 is hermetically fixed on the side of the air cavity 1.

As shown in fig. 2, the cover plate 2 has mounting holes for mounting the piston assemblies in a matrix form, and may be circular holes, the number of the mounting holes is not fixed, and varies from tens to thousands according to the requirements, the matrix may be a rectangular array of N × N, or a circular array or other shapes, and the piston assemblies are uniformly arranged in a matrix form.

As shown in figure 3, the piston assembly comprises a piston rod 4 and a piston seat 3, the sides of the installation cover plates 2 of the air cavities 1 are opposite, vent holes 6 are arranged on the air cavities, the corresponding piston rods 4 on the two air cavities extend out to clamp objects when positive pressure air is introduced into the air cavities, and the corresponding piston rods 4 on the two air cavities release the objects when negative pressure air is introduced into the air cavities.

The piston components are the same in size and shape, and the piston rods are made of stainless steel or solid rubber. Can be used for pressing from both sides to get high temperature object when adopting the stainless steel, can press from both sides and get yielding low temperature object when adopting solid rubber.

The piston seat 3 is fixedly arranged on the mounting hole in a sealing mode, the piston cavity 7 is arranged in the center of the piston seat, the piston cavity 7 is communicated with the mounting hole, the end of the piston is provided with the stopper 8, the end of the piston is a free end, the end with the stopper 8 is arranged in the piston cavity 7 and is in close contact with the inner wall of the piston cavity 7, the free end extends out of the piston seat 3, the end part of the free end is hemispherical, the outer surface of the free end of the piston is provided with anti-skidding lines, the hemispherical design is that a tip damage object is placed, the anti-skidding lines increase the friction force between the piston rod and the object, and.

The air cavity 1 is provided with a small hole as an air vent 5 for connecting with external equipment for ventilation. When the object 5 needs to be clamped, positive pressure gas is introduced into the air cavity 1, and all the piston rods extend out under the action of pressure to clamp the object 5. When the object 5 needs to be released, negative pressure gas is introduced into the air cavity 1, the piston rod retracts, and the object 5 is released (fig. 4 and 5).

The working principle is as follows:

this patent is about that has bilateral symmetry to tongs combined operation, when gripping object 5 with to tongs from object 5 both sides be close to object 5 to suitable distance, lead to positive pressure gas simultaneously in two air cavitys 1, both sides piston rod pressurized extension stretches out with the plane form, will be gripped object 5 and firmly surround, can will be gripped object 5 and grab, when needs place object 5, lead to negative pressure gas in the air cavity 1, the piston rod 4 shrink is reduced, object 5 can break away from the tongs automatically promptly.

This patent both can have about 1 to constitute and also can be by the relative 2 pairs in four sides or the relative N/2 pair of multiaspect is to constituting, and the assembly mode is nimble. The area size of the matrix can be customized according to the field situation.

In addition, various combination modes are provided for different occasions, so that the hand grip can be stressed on two sides, three sides, four sides … … and even ten sides, and the problem which cannot be solved by the existing hand grip is perfectly solved.

The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and improvements of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, which is defined by the appended claims.

Claims

1. The matrix type piston gripper is connected with a robot arm and is characterized by comprising at least two air cavities, the air cavities are fixedly connected with a cover plate in a sealing mode, mounting holes are arranged in the matrix type on the cover plate, piston assemblies are mounted corresponding to each mounting hole in a sealing mode and comprise piston rods and piston seats, the sides of the cover plate for mounting the air cavities are opposite, vent holes are formed in the air cavities, the corresponding piston rods on the two air cavities extend out to clamp objects when positive pressure gas is introduced into the air cavities, and the corresponding piston rods on the two air cavities release the objects when negative pressure gas is introduced into the air cavities.

2. The matrix-type piston grip of claim 1 wherein said piston assemblies are arranged uniformly in an N by N rectangular array.

3. The matrix-type piston grip of claim 1 wherein said piston assemblies are uniformly arranged in a circular array.

4. The matrix-type piston grip of claim 1 wherein said piston assemblies are of the same size and shape.

5. The matrix piston gripper of claim 1, wherein said piston rod is made of stainless steel or solid rubber.

6. The matrix piston gripper of claim 1, wherein said piston seat is sealingly and fixedly mounted in said mounting hole, said piston seat having a central piston cavity, said piston having a stopper at end and a free end at end , said stopper at end being mounted in said piston cavity and in close contact with said inner wall of said piston cavity, said free end extending beyond said piston seat, said free end having a hemispherical shape.

7. The matrix-type piston grip of claim 6 wherein the outer surface of the free end of said piston is provided with non-slip texturing.