CN211053717U - Safe type pneumatic hand claw - Google Patents
Safe type pneumatic hand claw Download PDFInfo
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- CN211053717U CN211053717U CN201922047106.8U CN201922047106U CN211053717U CN 211053717 U CN211053717 U CN 211053717U CN 201922047106 U CN201922047106 U CN 201922047106U CN 211053717 U CN211053717 U CN 211053717U
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Abstract
The utility model discloses a safe pneumatic paw, which comprises a basal body structure, a power structure and a transmission structure; the cylinder body is of an integral structure, and an inner cavity of the cylinder is arranged in the cylinder body; the power structure comprises a piston and a spring; the transmission structure comprises a wedge-shaped block and a sliding block; the piston is arranged in the cylinder inner cavity of the cylinder body and is fixedly connected with a wedge-shaped block positioned at the bottom of the cylinder body through a guide rod; the guide rod penetrates through the bottom of the inner cavity of the air cylinder and is connected with the wedge-shaped block; a spring is sleeved on the guide rod; one end of the spring is propped against the bottom of the inner cavity of the cylinder, and the other end of the spring is propped against one surface of the piston; the bottom of the cylinder body of the air cylinder is provided with a T-shaped groove track, and two ends of the T-shaped groove track are respectively provided with a sliding block; the sliding block can slide in the T-shaped groove track under the driving of the wedge-shaped block so as to realize opening and closing actions. The utility model discloses can solve the security problem of work piece centre gripping and transport in the automated production process.
Description
Technical Field
The utility model belongs to the technical field of the clamping jaw, in particular to pneumatic hand claw of safe type.
Background
A pneumatic gripper, one of end effectors of an industrial robot, is an automated apparatus having a function of gripping and moving a workpiece used in an automated production process. With the rapid development of smart manufacturing, industrial robots and automation lines will be gradually popularized in smart factories, and industrial robot end effectors represented by pneumatic grippers will be more and more widely used. The pneumatic paw has stronger flexibility in practical application, and can grab workpieces in different shapes by matching with proper fingers according to the characteristics of the grabbed workpieces. The pneumatic gripper has the advantages of high working efficiency, stability, reliability, good repeatability, capability of replacing people to work in high-risk environment, easiness in obtaining compressed air, no pollution, cleanness, environmental protection, environment protection to the maximum extent and reduction in maintenance cost.
In the prior art and applications, the pneumatic gripper is often used in combination with two fingers mounted on a standard cylinder for gripping a workpiece.
Chinese patent publication No. CN 110127364a discloses an automatic caging device for graphite bipolar plates, wherein: the mechanical claw in the mechanical arm structure is formed by combining two clamping parts of a finished cylinder, so that a workpiece is clamped. This way, though, the function of workpiece grabbing can be realized. However, when the number of times of use is increased, the clamped portion is significantly deformed, and the clamping accuracy and stability are lost.
In the automatic production, the grabbing and the carrying of the workpiece are completed in a motion state, and the rigidity, the precision and the safety of the clamping of the pneumatic paw directly influence the safety, the reliability and the continuity of the automatic production.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a safe type pneumatic hand claw to solve the security problem of work piece centre gripping and transport in automated production process.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a safety pneumatic paw comprises a base structure, a power structure and a transmission structure;
the cylinder body is of an integral structure, and an inner cavity of the cylinder is arranged in the cylinder body;
the power structure comprises a piston and a spring;
the transmission structure comprises a wedge-shaped block and a sliding block;
the piston is arranged in the cylinder inner cavity of the cylinder body and is fixedly connected with a wedge-shaped block positioned at the bottom of the cylinder body through a guide rod; the guide rod penetrates through the bottom of the inner cavity of the air cylinder and is connected with the wedge-shaped block; a spring is sleeved on the guide rod; one end of the spring is propped against the bottom of the inner cavity of the cylinder, and the other end of the spring is propped against one surface of the piston;
the bottom of the cylinder body of the air cylinder is provided with a T-shaped groove track, and two ends of the T-shaped groove track are respectively provided with a sliding block; the sliding block can slide in the T-shaped groove track under the driving of the wedge-shaped block so as to realize opening and closing actions.
Furthermore, a hard limiting structure used for limiting the movement stroke of the piston and the wedge block is arranged in the cylinder body of the air cylinder.
Furthermore, a buffer pad for buffering the collision of the piston is arranged on the hard limiting structure.
Furthermore, one end of the spring is pressed against a first spring positioning guide groove at the bottom of the inner cavity of the cylinder, and the other end of the spring is pressed against a second spring positioning guide groove on one surface of the piston.
Furthermore, a magnetic ring installation groove is arranged on the other side of the piston.
Further, the piston is of a non-circular configuration.
Further, the device also comprises a position detection structure; the position detection structure includes: the proximity switch comprises a proximity switch induction component, a proximity switch mounting block, a proximity switch and a magnetic switch;
the proximity switches are fixedly arranged on two sides of the cylinder body of the air cylinder through the proximity switch mounting blocks and are positioned right above the two sliding blocks;
the proximity switch sensing assembly is arranged in the sliding block and can move along with the opening and closing of the sliding block;
the proximity switch is used for determining the motion position of the sliding block by capturing the position of the sensing component;
the magnetic switch is arranged on the front surface of the cylinder body of the air cylinder; for determining the moving position of the piston by sensing the magnetic ring on the piston.
Further, the sliding block comprises a sliding block body, a guide sliding block is arranged on the inner side of the sliding block body, and a guide groove capable of accommodating the diamond block body is formed between the guide sliding block and the sliding block body; two guide sliding blocks of the two sliding blocks are arranged in the corresponding guide sliding grooves; when the wedge block vertically moves, the two sliding blocks can be driven to slide along the T-shaped groove track.
Furthermore, the sliding block is provided with fingers for grabbing the workpiece.
Compared with the prior art, the utility model discloses following technological effect has:
1) the utility model discloses a power provides is the aerodynamic force and the spring combined action that compressed air produced the piston, and wherein the spring can be when atmospheric pressure is difficult for increasing, provides extra clamping-force for pneumatic gripper when the centre gripping.
2) The utility model discloses spring among the power structure can be when the system breaks gas suddenly, provides certain clamping-force for pneumatic hand claw and keeps, has avoided the condition that the work piece that produces drops because the system breaks gas suddenly, has effectively improved the security of production process.
3) The utility model discloses spring among the power structure can realize the buffering when pneumatic hand claw opens, reduces piston and cylinder body limit structure's impact load, reduces the impact vibration in the pneumatic hand claw working process, prolongs the whole life-span of pneumatic hand claw.
4) The utility model discloses buffer material has been increased on limit structure for further reduce impact and the vibration that pneumatic hand claw produced in two extreme stroke positions department, further reduce because pneumatic hand claw influences the life-span of further extension pneumatic hand claw for the vibration that the system brought.
5) The utility model discloses the interface that admits air that all sets up compressed air on cylinder body and cylinder end cover for satisfy different demands, improve the flexibility and the associativity that pneumatic hand claw used.
6) The utility model discloses set up the structure mounting hole of a plurality of directions on cylinder body, can realize multi-directional installation, increased the flexibility and the associativity of pneumatic hand claw installation.
7) The utility model discloses set up multiple detection switch's installation interface, can realize that multiple detection switch's position detects, increased the variety that pneumatic hand claw detected.
8) The utility model has reasonable scheme, integrates more functions in the structure with the same size, provides larger clamping force, ensures more stable and safe working process and provides more possibility for the use of the utility model;
9) the utility model discloses a power supply easily obtains, and is pollution-free, clean environmental protection, furthest environmental protection reduces the maintenance cost.
Drawings
The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic sectional view of a safety pneumatic gripper according to the present invention.
Fig. 2 is a schematic front structural view of the safety pneumatic gripper of the present invention.
Fig. 3 is a rear schematic structural view of the safety pneumatic gripper of the present invention.
Fig. 4 is a schematic view of the bottom structure of a safety pneumatic gripper of the present invention.
Fig. 5 is a top view of the cylinder body in the safety pneumatic gripper of the present invention.
FIG. 6 is a schematic structural view of a piston in a safety pneumatic gripper according to the present invention;
FIG. 7 is a schematic view of another side of the schematic view of FIG. 6;
fig. 8 is a schematic view of the wedge block and the slide block.
Wherein: 1-a cylinder body, 2-a cylinder end cover, 3-a cylinder end cover sealing ring, 4-a piston, 5-a piston sealing ring, 6-a spring, 7-a piston rod sealing ring, 8-a buffer pad, 9-a wedge block, 10-a slide block, 11-an end cover, 12-a proximity switch induction component, 13-a proximity switch installation block, 14-a proximity switch and 15-a magnetic switch; 1.1-front air source interface, 1.2-top air source interface, 1.3-top mounting hole, 1.4-front mounting hole, 1.5-back mounting hole, 1.6-bottom mounting hole, 1.7-lubricating oil hole, 1.8-piston stroke hard limit, 1.9-first spring positioning guide groove, 1.10-magnetic switch mounting groove, 4.1-magnetic ring mounting groove, 4.2-second spring positioning guide groove, 10.1-finger mounting hole.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The following detailed description is exemplary in nature and is intended to provide further details of the invention. Unless otherwise defined, all technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the invention.
The utility model provides a safe type pneumatic hand claw solves the security problem of work piece centre gripping and transport in automated production process. In the implementation process of industrial automatic production, the safety, reliability, continuity and operation efficiency of the system are improved.
Referring to fig. 1 to 4, the working principle of the safety pneumatic gripper of the present invention is that when the air source interface 1.1/1.2 is respectively supplied with air, the pneumatic gripper performs opening and closing actions for clamping and placing a workpiece. The structure of the device comprises a base structure, a power structure, a transmission structure and a position detection structure.
1. Base structure
The base structure includes: cylinder block 1, cylinder end cover 2 and end cover 11.
The cylinder body 1 of pneumatic hand claw is overall structure, and the power supply function and the power transmission space of power of cylinder have been integrateed to cylinder body 1 inside, and the outside of cylinder body has integrateed all kinds of structure interfaces that are connected with other equipment, if: the front side air source interface 1.1/the top side air source interface 1.2 of the compressed air, the mounting groove 1.10 of the magnetic switch, the mounting hole of the proximity switch, the reserved mounting hole of the structural connection and the like.
The cylinder end cover 2 comprises a sealing ring 3, the mounting position is right above the cylinder body 1, the sealing ring and the cylinder body 1 form a closed cylinder inner cavity together to lay a pneumatic foundation, and a special groove is formed in the cylinder body 1 and is used for positioning and orienting the cylinder end cover 2 and connected with the cylinder body 1; two top surface air source interfaces 1.2 for compressed air to enter are arranged on the cylinder end cover 2 and can be selectively used with the front surface air source interface 1.1 on the cylinder body 1.
A piston 4 and a wedge-shaped block 9 are arranged in the cylinder body 1; a hard limiting structure 1.8 for limiting the movement stroke of the piston 4 and the wedge-shaped block 9 is arranged in the cylinder body 1 and is used for determining the opening and closing stroke of the pneumatic paw;
the bottom of the cylinder body 1 of the air cylinder is provided with a T-shaped groove track, and two ends of the T-shaped groove track are respectively provided with a sliding block 10; the slide block 10 can slide in the T-shaped groove track driven by the wedge block 9 to realize the opening and closing action. Meanwhile, two lubricating oil holes 1.7 are formed in the T-shaped groove track and used for adding lubricating oil and maintaining the long service life of the pneumatic paw;
the end cover 11 is arranged right below the cylinder body 1 and used for preventing scraps in the working condition environment of the pneumatic paw from invading into the pneumatic paw in the using process.
2. Power structure
The power structure comprises a piston 4 and a spring 6.
The piston 4 is arranged in the cylinder inner cavity of the cylinder body 1, and the piston 4 is fixedly connected with a wedge-shaped block 9 positioned at the bottom of the cylinder body 1 through a guide rod 90; the guide rod 90 penetrates through the bottom of the inner cavity of the cylinder and is connected with the wedge-shaped block 9; the guide rod is sleeved with a spring 6. One end of the spring 6 is propped against the first spring positioning guide groove 1.9 at the bottom of the cylinder inner cavity, and the other end is propped against the second spring positioning guide groove 4.2 on one surface of the piston 4. And a magnetic ring mounting groove 4.1 is formed in the other surface of the piston 4.
The pneumatic paw is powered by compressed air together with a spring 6, wherein the piston 4 is the main power supply and the spring 6 assists. In the production process, if gas is cut off suddenly, the energy storage part of the spring 6 can provide a certain degree of clamping force for the pneumatic paw, so that the workpiece cannot fall off due to the sudden gas cut off, and safety accidents are avoided.
A sealing ring 5 is arranged on the side wall of the piston 4 and used for separating the inner cavity of the cylinder to form two sealed power cavities, and a magnetic ring mounting groove 4.1 is formed in the upper surface of the piston 4 and used for being matched with a magnetic switch 15 mounted on the cylinder body 1 of the cylinder to transmit stroke signals; the lower surface of the piston 4 is provided with a positioning guide groove 4.2 of a spring, and the positioning guide groove is matched with a first spring positioning guide groove 1.9 in the cylinder body 1 and is used for mounting and positioning the spring 6;
the movement stroke of the piston 4 in the cylinder body 1 is limited by a hard limiting structure 1.8 in the cylinder body 1, and the limiting structures 1.8 are respectively attached with a cushion pad 8 for absorbing impact load generated when the piston 4 moves to the hard limiting structure 1.8;
the piston 4 is of a non-circular structure (such as an oval or a racetrack shape), and the structure can effectively prevent the piston from rotating inside the cylinder body 1 during movement, so that the working process of the pneumatic paw is unstable.
3. Transmission structure
The transmission structure includes: wedge block 9 and slide 10.
Referring to fig. 8, one side of the wedge 9 is fixedly connected to the piston 4 through a guide rod 90 for receiving the power provided by the piston 4 and the spring 6; the other side of the wedge-shaped block 9 is connected with a slide block 10, and the power generated by the piston 4 and the spring 6 is horizontally turned from the vertical direction and is transmitted to the slide block 10 through a wedge-shaped structure; the wedge block 9 comprises an isosceles triangle block 91 and two diamond blocks 92; two rhombus block 92 are connected in isosceles triangle block 91 both sides, form direction spout 93 between rhombus block 92 and the isosceles triangle block 91, and both sides direction spout 93 is the splayed and arranges. The slider 10 includes a slider body 100, a guide slider 101 is disposed on the inner side of the slider body 100, and a guide groove 102 capable of accommodating the diamond block 92 is formed between the guide slider 101 and the slider body. The two guide sliders 101 of the two sliders 10 are mounted in the corresponding guide chutes 93, so that the two sliders 10 move outward when the wedge block 9 moves vertically toward the bottom of the cylinder block 1; when the wedge 9 moves vertically toward the upper portion of the cylinder block 1, the two sliders 10 move inward.
The slide block 10 is provided with a finger mounting hole 10.1 for mounting a finger required for grabbing a workpiece, and finally, the power of the piston 4 and the spring 6 is transmitted to the finger for grabbing the workpiece.
4. Position detection structure
The position detection structure includes: a proximity switch sensing assembly 12, a proximity switch mounting block 13, a proximity switch 14, and a magnetic switch 15.
The proximity switch sensing assembly 12, the proximity switch mounting block 13 and the proximity switch 14 need to be used in combination. The proximity switch mounting block 13 is used for fixedly mounting the proximity switch 14 on two sides of the cylinder body 1 and is positioned right above the two sliders 10.
A proximity switch sensing assembly 12 is installed inside the slider 10, and follows the opening and closing movement of the slider 10;
the proximity switch 14 determines the motion position of the slider 10 by capturing the position of the sensing assembly 12;
the magnetic switch 15 can be directly installed in the corresponding magnetic switch installation groove 1.8 on the front surface of the cylinder body 1. The magnetic switch 15 determines the movement position of the piston 4 by sensing a magnetic ring on the piston 4;
the proximity switch 15 and the magnetic switch 14 can be used in a selected one according to actual needs.
It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of the invention or which are equivalent to the scope of the invention are embraced by the invention.
Claims (10)
1. A safe pneumatic paw is characterized by comprising a base structure, a power structure and a transmission structure;
the cylinder body (1) is of an integral structure, and an inner cavity of the cylinder is formed in the cylinder body;
the power structure comprises a piston (4) and a spring (6);
the transmission structure comprises a wedge-shaped block (9) and a sliding block (10);
the piston (4) is arranged in the cylinder inner cavity of the cylinder body (1), and the piston (4) is fixedly connected with a wedge-shaped block (9) positioned at the bottom of the cylinder body (1) through a guide rod (90); the guide rod (90) penetrates through the bottom of the inner cavity of the cylinder and is connected with the wedge-shaped block (9); a spring (6) is sleeved on the guide rod (90); one end of the spring (6) is pressed against the bottom of the inner cavity of the cylinder, and the other end of the spring is pressed against one surface of the piston (4);
the bottom of the cylinder body (1) of the air cylinder is provided with a T-shaped groove track, and two ends of the T-shaped groove track are respectively provided with a sliding block (10); the sliding block (10) can slide in the T-shaped groove track under the driving of the wedge-shaped block (9) so as to realize the opening and closing action.
2. The safety pneumatic paw as claimed in claim 1, characterized in that the cylinder body (1) is internally provided with a hard limit structure (1.8) for limiting the movement stroke of the piston (4) and the wedge block (9).
3. A safety pneumatic gripper according to claim 2, characterised in that the hard stop (1.8) is provided with a cushion (8) for cushioning the impact of the piston (4).
4. The safety pneumatic paw as claimed in claim 2, characterized in that one end of the spring (6) is supported against a first spring positioning guide groove (1.9) at the bottom of the cylinder cavity and the other end is supported against a second spring positioning guide groove (4.2) on one side of the piston (4).
5. The safety pneumatic paw as claimed in claim 4, wherein a magnetic ring mounting groove (4.1) is formed in the other surface of the piston (4).
6. Safety pneumatic gripper according to claim 1, characterised in that the piston (4) is of non-circular configuration.
7. The safety pneumatic gripper of claim 1, further comprising a position sensing structure; the position detection structure includes: the proximity switch comprises a proximity switch induction component (12), a proximity switch mounting block (13), a proximity switch (14) and a magnetic switch (15);
the proximity switches (14) are fixedly arranged on two sides of the cylinder body (1) of the air cylinder through the proximity switch mounting blocks (13) and are positioned right above the two sliding blocks (10);
the proximity switch sensing assembly (12) is arranged in the sliding block (10) and can move along with the opening and closing of the sliding block (10);
the proximity switch (14) is used for determining the motion position of the sliding block (10) by capturing the position of the proximity switch sensing component (12);
the magnetic switch (15) is arranged on the front surface of the cylinder body (1); used for determining the movement position of the piston (4) by sensing a magnetic ring on the piston (4).
8. Safety pneumatic gripper according to claim 1, characterised in that the wedge-shaped block (9) comprises a triangular block (91) and two diamond-shaped blocks (92); two rhombus block bodies (92) are connected on two inclined surface sides of the isosceles triangle block body (91), a guide sliding groove (93) is formed between the rhombus block body (92) and the isosceles triangle block body (91), and the guide sliding grooves (93) on the two sides are arranged in a splayed shape.
9. The safety pneumatic paw as claimed in claim 1, wherein the slider (10) comprises a slider body (100), a guide slider (101) is arranged on the inner side of the slider body (100), and a guide groove (102) capable of accommodating the diamond-shaped block (92) is formed between the guide slider (101) and the slider body; two guide sliding blocks (101) of the two sliding blocks (10) are arranged in the corresponding guide sliding grooves (93); when the wedge-shaped block (9) vertically moves, the two sliding blocks (10) can be driven to slide along the T-shaped groove track.
10. Safety pneumatic gripper according to claim 1, characterised in that the slider (10) is fitted with fingers for gripping the workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922047106.8U CN211053717U (en) | 2019-11-22 | 2019-11-22 | Safe type pneumatic hand claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922047106.8U CN211053717U (en) | 2019-11-22 | 2019-11-22 | Safe type pneumatic hand claw |
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| Publication Number | Publication Date |
|---|---|
| CN211053717U true CN211053717U (en) | 2020-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922047106.8U Active CN211053717U (en) | 2019-11-22 | 2019-11-22 | Safe type pneumatic hand claw |
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| Country | Link |
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| CN (1) | CN211053717U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113954113A (en) * | 2021-11-19 | 2022-01-21 | 重庆江东机械有限责任公司 | Multifunctional online axial and radial precision forming manipulator |
-
2019
- 2019-11-22 CN CN201922047106.8U patent/CN211053717U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113954113A (en) * | 2021-11-19 | 2022-01-21 | 重庆江东机械有限责任公司 | Multifunctional online axial and radial precision forming manipulator |
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