CN210650733U

CN210650733U - Material taking paw for mechanical hand

Info

Publication number: CN210650733U
Application number: CN201921691098.4U
Authority: CN
Inventors: 张天江; 张华平; 张传宾; 刘源
Original assignee: Tianjin Taihua Easy-Robot Science & Technology Co ltd
Current assignee: Tianjin Taihua Easy-Robot Science & Technology Co ltd
Priority date: 2019-10-11
Filing date: 2019-10-11
Publication date: 2020-06-02
Anticipated expiration: 2029-10-11

Abstract

The utility model discloses a material hand claw is got to manipulator usefulness, include the three-jaw cylinder and install three synchronous movement's of three-jaw cylinder lower part clamping jaw, the inside center of cylinder body of three-jaw cylinder form the axial through hole, install the rod-shaped body in the axial through hole, the dish that floats is installed to the lower extreme of the rod-shaped body, the dish that floats is located in the inboard space of clamping jaw, be used for before the clamping jaw presss from both sides the work piece, stretch into the work piece in from the upper end of work piece, with the step face contact on the work piece inner wall to compress tightly the work piece and carry out the press from both sides the location before getting. The utility model discloses a manipulator is used gets material hand claw to in specific work piece design, makes things convenient for getting of this type of work piece to use, has solved the current technical problem who gets material hand claw can't get this type of work piece usually.

Description

Material taking paw for mechanical hand

Technical Field

The utility model relates to a machining technical field especially relates to a material hand claw is got to manipulator usefulness.

Background

The gripper is a material taking and placing device commonly used in modern enterprise automated production, and is usually installed at the front end of a robot or a manipulator, and the robot or the manipulator controls movement to take and place corresponding materials. However, the clamping jaw of the material taking device of the existing three-jaw air cylinder has a through hole aiming at the inner wall, and when a cylindrical workpiece with a step surface outside the through hole takes materials, the problem of inconvenient positioning exists. Therefore, improvements are needed.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a material-taking paw for a mechanical hand, aiming at the technical defects existing in the prior art.

For realizing the utility model discloses a technical scheme that the purpose adopted is:

the utility model provides a material taking paw for manipulator, includes the three-jaw cylinder and installs three simultaneous movement's of three-jaw cylinder lower part clamping jaw, its characterized in that, the cylinder body inside center of three-jaw cylinder form the axial through hole, fixed mounting has the rod-shaped body in the axial through hole, the lower extreme of the rod-shaped body installs the dish that floats, the dish that floats is located in the inboard space of clamping jaw, be used for before the clamping jaw presss from both sides the work piece, stretch into the work piece in the upper end of work piece, with the step face contact on the work piece inner wall to compress tightly the work piece and press from both sides the location before pressing from both sides and getting.

The spring is installed on the rod-shaped body, the other end of the spring is fixedly connected with a spring hole in the floating disc, the spring is covered by a T-shaped sleeve from top to bottom outside, a circular disc at the upper end of the T-shaped sleeve is matched and embedded with a circular hole in the manipulator connecting plate, and the T-shaped sleeve is connected with the axial through hole in an interference fit mode.

The three-jaw air cylinder and the connecting plate are fixedly connected together through three screws.

The lower end of the rod-shaped body is fixedly provided with a connector, and a rod body connected with the lower end of the connector extends into a central circular step hole of the floating disc.

The utility model discloses a manipulator is used gets material hand claw to in specific work piece design, makes things convenient for getting of this type of work piece to use, has solved the current technical problem who gets material hand claw can't get this type of work piece usually.

Drawings

Fig. 1 is a three-dimensional view of a material-taking paw for a manipulator of the present invention mounted on a manipulator connecting plate;

FIG. 2 is a three-dimensional view of a workpiece to be taken;

FIG. 3 is a partial schematic view of the material extraction gripper of FIG. 1 without the three-jaw cylinder;

FIG. 4 is a schematic view of the pickup paw of FIG. 1;

FIG. 5 is a schematic view of a floating mechanism formed by a floating disk (without a spring);

FIG. 6 is a schematic view of a floating mechanism formed by floating disks (without a T-shaped sleeve);

FIG. 7 is a schematic view of a T-shaped sleeve;

FIG. 8 is a partial sectional view of the installation of the float mechanism;

FIG. 9 is a schematic view of a connecting head;

FIG. 10 is a schematic view of a three-jaw cylinder;

FIG. 11 is a schematic view of a three-jaw cylinder from another perspective;

FIG. 12 is a schematic view of the engagement of the clamping jaws of the three-jaw cylinder with the floating plate;

figure 13 is a view of the material removal gripper from another perspective.

Detailed Description

The present invention will be described in further detail with reference to the following drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1-13, the utility model relates to a material-taking paw for mechanical arm, comprising a three-paw cylinder 2 and three synchronously moving gripping jaws 4 installed at the lower part of the three-paw cylinder, which is the structure of the prior art material-taking paw and will not be described in detail, the innovation of the invention is that an axial through hole 20 is formed at the center inside the cylinder body of the three-paw cylinder 2, a rod-shaped body 30 is installed in the axial through hole, a floating disc 3 is installed at the lower end of the rod-shaped body, the floating disc is located in the space inside the gripping jaws 4, before the gripping jaws grip a workpiece 6, the floating disc extends into the workpiece from the upper end of the workpiece 6 and contacts with a step surface 62 on the inner wall of the workpiece to press the workpiece 6 for positioning before gripping, then the workpiece is gripped by the gripping jaws 4, the center of the workpiece 6 has a through hole 61, and the outer surface has an annular step surface 60, cooperating with the L-shaped positioning gripping structures 41 of the gripping jaws 4.

The spring 31 is mounted on the rod-shaped body, the other end of the spring extends into a spring mounting hole of the floating disc to be connected and fixed with the floating disc, if welding is carried out, the spring is partially covered by a T-shaped sleeve 34 from top to bottom on the outer side, a circular disc at the upper end of the T-shaped sleeve is matched and embedded with the circular hole 10 in the manipulator connecting plate 1, and the circular sleeve of the T-shaped sleeve is connected with the axial through hole in an interference fit mode.

Wherein, the T-shaped sleeve 34 and the rod-shaped body can be fixed by welding.

The three-jaw air cylinder 2 and the connecting plate 1 are fixedly connected together through three screws 11. The connecting plate has a robot connecting groove 12 at the center, which is a circular groove formed with a bolt hole to facilitate connection and fixation with the front end of the robot (the connecting structure with the front end of the robot can be specifically designed according to the front end structure of the robot, and is not limited to this shape and structure). And a material placing paw 7 is arranged on the other side of the manipulator to realize material placing before workpiece processing, and the material taking paw is matched with the material taking paw, so that one material taking paw is used for material placing.

Wherein, the lower end of the rod-shaped body 30 is fixed with a connector 32, and a rod body 321 connected with the lower end of the connector extends into the central circular step hole of the floating disc.

Specifically, the connector 32 includes a cylinder 320 having a small section of blind hole with internal thread at the center of its upper end, a nut 323 is welded at the upper end of the cylinder 320, and has a small section of blind hole with internal thread at the center of its upper end coaxial with and matching with the blind hole with internal thread at the center of its upper end, and is used for being connected with the lower end of the rod 30 by screw thread, a small nut 324 is welded at its lower end, and is connected with the upper end of the rod 321 by screw thread, a nut 322 is provided on the rod 321, and the nut 322 is installed in the large diameter hole at the upper end of the central circular step hole of the floating disc 3, and the rod 321 extends into the small diameter hole at the lower end in the central circular step hole.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a material taking paw for manipulator, includes the three-jaw cylinder and installs three simultaneous movement's of three-jaw cylinder lower part clamping jaw, its characterized in that, the cylinder body inside center of three-jaw cylinder form the axial through hole, fixed mounting has the rod-shaped body in the axial through hole, the lower extreme of the rod-shaped body installs the dish that floats, the dish that floats is located in the inboard space of clamping jaw, be used for before the clamping jaw presss from both sides the work piece, stretch into the work piece in the upper end of work piece, with the step face contact on the work piece inner wall to compress tightly the work piece and press from both sides the location before pressing from both sides and getting.

2. The material taking paw for the manipulator as claimed in claim 1, wherein a spring is mounted on the rod-shaped body, the other end of the spring is fixedly connected with a spring hole on the floating disc, the spring is partially covered from top to bottom by a T-shaped sleeve, a circular disc at the upper end of the T-shaped sleeve is fitted and embedded with a circular hole on a manipulator connecting plate, and the T-shaped sleeve is connected with the axial through hole in an interference fit manner.

3. The material extracting gripper as claimed in claim 2, wherein the three-jaw cylinder is fixedly connected to the connecting plate by three screws.

4. The material extracting gripper as claimed in claim 2, wherein a connecting head is fixed to a lower end of the rod-shaped body, and a rod body connected to the lower end of the connecting head extends into the central circular step hole of the floating disc.