CN211466444U - Robot tail end execution paw - Google Patents
Robot tail end execution paw Download PDFInfo
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- CN211466444U CN211466444U CN202020073862.8U CN202020073862U CN211466444U CN 211466444 U CN211466444 U CN 211466444U CN 202020073862 U CN202020073862 U CN 202020073862U CN 211466444 U CN211466444 U CN 211466444U
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Abstract
The utility model discloses a robot end execution paw, which comprises a fixed plate, a cylinder positioned at the upper part of the fixed plate and a piston rod guide cylinder positioned at the lower part of the fixed plate, wherein a piston rod of the cylinder is positioned in the piston rod guide cylinder, a U-shaped pull rod with a downward opening is fixed at the end part of the piston rod guide cylinder, pull rod guide grooves penetrating through the piston rod guide cylinder are arranged on the left side wall and the right side wall of the piston rod guide cylinder, and the U-shaped pull rod vertically moves along the pull rod guide grooves under the driving; the front side wall and the rear side wall of each vertical rod of the U-shaped pull rod are respectively fixed with a sliding pin vertical to the U-shaped pull rod, the front side and the rear side of the piston rod guide cylinder are respectively provided with a grabbing device, each grabbing device is formed by hinging two connecting rods with adjustable lengths, and the inner side of the bottom of each connecting rod is fixed with a clamping jaw; the sliding pins and the connecting rods are arranged in a one-to-one correspondence mode, sliding grooves are formed in the connecting rods, each sliding pin is located in the corresponding sliding groove of the corresponding connecting rod, and the sliding pins can move linearly along the sliding grooves under the driving of the piston rods and the U-shaped pull rods. The grabbing speed is high, and the grabbing stability is good.
Description
Technical Field
The utility model belongs to the technical field of robot end effector, concretely relates to robot end carries out hand claw.
Background
The robot end effector is any tool which is connected to the edge (joint) of a robot and has a certain function, and comprises a robot gripper, a robot tool quick-changing device, a robot collision sensor, a robot rotary connector, a robot pressure tool, a robot spraying gun, a robot burr cleaning tool and the like. The robot gripper is an automatic operating device which can imitate some action functions of a human hand and an arm, grasp and carry objects or operate tools according to a fixed program, and can complete various expected operations through programming.
At present, a series of mechanical claws are proposed for grabbing of pipe fittings in the actual production and manufacturing process, the utility model patent with the publication number of CN208880759U discloses a robot end effector claw structure, and the structure is simple and can flexibly grab the pipe fittings. But it realizes flexibly snatching through the extension spring, only can snatch light-duty pipe fitting, and under the pipe fitting action of gravity, the extension spring takes place fatigue and rigid deformation easily and loses efficacy, snatchs poor stability. In addition, due to the existence of liquids such as cutting fluid and lubricating oil on the surface of the pipe fitting, the pipe fitting falling phenomenon is easy to occur in the grabbing and moving processes of the mechanical gripper. The utility model discloses a utility model patent with publication number CN205674217U discloses a gripper for shield constructs quick-witted hob that trades, saves time, practices thrift the cost, nevertheless can only snatch the pipe fitting of certain diameter when using it to snatch the pipe fitting, and unable adjustment snatchs the interval and snatchs in order to snatch the pipe fitting of various diameters, leads to its use limited.
Disclosure of Invention
An object of the embodiment of the utility model is to provide a terminal execution hand claw of robot to solve current mechanical gripper clamp and get the unable adjustment of interval and lead to its limited problem of use, snatch hard and poor stability's problem, and there is liquid such as cutting fluid, lubricating oil on the pipe fitting surface and make the problem of snatching, removing in-process pipe fitting and drop easily.
The technical scheme adopted by the embodiment of the utility model is that the robot end execution paw comprises a fixed plate, an air cylinder and a piston rod guide cylinder, wherein the air cylinder is arranged at the top of the fixed plate, and the piston rod guide cylinder is arranged at the bottom of the fixed plate; a piston rod of the air cylinder is positioned in a piston rod guide cylinder, a U-shaped pull rod with a downward opening is fixed at the end part of the piston rod guide cylinder, pull rod guide grooves penetrating through the piston rod guide cylinder are formed in the left side wall and the right side wall of the piston rod guide cylinder, and the U-shaped pull rod vertically moves along the pull rod guide grooves under the driving of the piston rod; the front side wall and the rear side wall of each of the two vertical rods of the U-shaped pull rod are respectively fixed with a sliding pin perpendicular to the vertical rods, the front side and the rear side of each piston rod guide cylinder are respectively provided with a grabbing device, each grabbing device is formed by hinging two connecting rods with adjustable lengths, the connecting rods are arranged in parallel with the U-shaped pull rod, the inner side of the bottom of each connecting rod is fixedly provided with a clamping jaw, and the clamping jaws of the two hinged connecting rods are arranged oppositely; the sliding pins and the connecting rods are arranged in a one-to-one correspondence mode, sliding grooves penetrating through the front side wall and the rear side wall of the connecting rods are formed in the upper portions of the connecting rods along the length directions of the connecting rods, each sliding pin is located in the corresponding sliding groove of the corresponding connecting rod, and the sliding pins can move linearly along the sliding grooves under the driving of the piston rods and the U-shaped pull rods.
Furthermore, the connecting rod with adjustable length consists of an upper connecting rod and a lower connecting rod, the sliding groove is arranged in the middle of the lower connecting rod, the clamping jaw is fixed on the inner side of the lower part of the lower connecting rod, and the lower connecting rod can perform linear telescopic motion along the upper connecting rod.
Furthermore, the upper connecting rod is provided with a mounting hole, a lower connecting rod accommodating groove and a plurality of button telescopic holes, the mounting hole is positioned at the upper part of the upper connecting rod and penetrates through the upper connecting rod from front to back, the lower connecting rod accommodating groove is positioned at the lower part of the upper connecting rod and vertically penetrates through the bottom of the upper connecting rod, and the button telescopic holes are respectively arranged at the left side and the right side of the upper connecting rod and penetrate through the upper connecting rod to be communicated with the lower connecting rod accommodating groove in the upper;
lower connecting rod upper end is arranged in lower connecting rod holding tank, be equipped with flexible button guiding hole on it, flexible button and spring, flexible button guiding hole is equipped with two and is located the left and right sides on upper connecting rod upper portion respectively, every flexible button guiding hole is provided with the spring along its length direction, spring one end and flexible button guiding hole bottom fixed connection, its other end and flexible button are located the one end fixed connection in the flexible button guiding hole, the connecting rod is stretched out through button telescopic hole to the flexible button other end, flexible button can follow the flexible button guiding hole and carry out sharp concertina movement under the external pressure.
Furthermore, the diameter of one end of the telescopic button, which is positioned in the telescopic button guide hole, is larger than that of the telescopic button hole.
Furthermore, the sliding pins on the two vertical rods of the U-shaped pull rod are arranged in a bilateral symmetry mode, and the sliding pins on each vertical rod are arranged in a front-back symmetry mode.
Furthermore, a guide block is fixed at one end of the sliding pin, which penetrates through the sliding groove, and the guide block is in contact with the connecting rod.
Furthermore, the clamping jaw is hollow, the inner wall of the clamping jaw is provided with an air injection hole, and the outer wall of the clamping jaw is provided with an air inlet hole.
Furthermore, the two ends of the sliding groove are provided with elastic material layers.
Further, the elastic material layer is a rubber layer or a silica gel layer.
Furthermore, a piston rod moving through hole penetrating through the piston rod guide cylinder from top to bottom is formed in the center of the piston rod guide cylinder, the end portion of a piston rod of the air cylinder penetrates through the fixing plate and is located in the piston rod moving through hole of the piston rod guide cylinder, and the piston rod can vertically extend and retract along the piston rod moving through hole of the piston rod guide cylinder.
The beneficial effects of the embodiment of the utility model are that, drive the clamping jaw through U type pull rod, four connecting rods and four sliding pin cooperations and press from both sides the pipe fitting, and the symmetry sets up grabbing device around the piston rod guide cylinder, and the sliding pin and the connecting rod that four symmetries set up guarantee that the clamping jaw atress is even, and the pipe fitting stress point increases and the atress is more balanced, has effectively guaranteed to snatch stability, has effectively solved current mechanical gripper and has snatched hard and poor stability's problem. Set up the connecting rod and form by last connecting rod and lower connecting rod to set up and make down the connecting rod can stretch out and draw back in last connecting rod, realize the length adjustment of connecting rod, make the spout interval on two articulated connecting rods adjustable, realized that the clamping jaw interval is adjustable, can be used to snatch the pipe fitting of different diameters, effectively solved current mechanical gripper clamp and get the unable adjustment of interval and lead to its limited problem of use. Set up the elastic material layer at the both ends of spout, realize the flexibility and snatch, prevent to snatch when the position is not accurate enough that each part mechanical connection causes the clamping jaw to damage. The inside cavity of clamping jaw to set up the fumarole on the inner wall of clamping jaw, set up the inlet port on its outer wall, inlet port and air supply intercommunication, when snatching, the fumarole is jet-propelled to get rid of liquid such as cutting fluid, lubricating oil on pipe fitting surface, effectively prevents to snatch, drop of pipe fitting when removing, has solved the problem that the pipe fitting drops easily in the pipe fitting surface has liquid such as cutting fluid, lubricating oil to make and snatchs, remove the in-process pipe fitting. Simple structure, high grabbing speed and good grabbing stability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a robot end execution gripper according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of a gripping device of a robot end execution paw according to an embodiment of the present invention.
Fig. 3 is a schematic view of a connecting rod structure of a robot end execution paw according to an embodiment of the present invention.
Fig. 4 is a schematic view of a jaw structure of a robot end execution gripper according to an embodiment of the present invention.
Fig. 5 is a schematic view of a pull rod structure of the end performing gripper of the robot according to the embodiment of the present invention.
Fig. 6 is a schematic structural view of a piston rod guide cylinder of a robot end execution gripper according to an embodiment of the present invention.
In the figure, 1, a fixing plate, 2, an air cylinder, 3, a piston rod guide cylinder, 3-1, a pull rod guide groove, 4, a piston rod, 5, a U-shaped pull rod, 6, a sliding pin, 7, a guide block, 8, a connecting rod, 8-1, an upper connecting rod, 8-1-1, a mounting hole, 8-1-2, a lower connecting rod accommodating groove, 8-1-3, a button telescopic hole, 8-2, a lower connecting rod, 8-2-1, a telescopic button guide hole, 8-2-2, a telescopic button, 8-2-3, a spring, 9, a sliding groove, 10, an elastic material layer, 11, a clamping jaw, 12, an air inlet hole, 13, a stud bolt and 14, an air injection hole are arranged.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The embodiment provides a robot end execution paw for grabbing pipe fittings, as shown in fig. 1 and 2, comprising a fixing plate 1, a cylinder 2 and a piston rod guide cylinder 3, wherein the cylinder 2 is installed at the top of the fixing plate 1, and the piston rod guide cylinder 3 is installed at the bottom of the fixing plate 1. The piston rod guide cylinder 3 center is equipped with the piston rod through-hole that runs through it from the top down, and the piston rod 4 top of cylinder 2 runs through fixed plate 1 and is located the piston rod through-hole of piston rod guide cylinder 3, and piston rod 4 can carry out vertical concertina movement along the piston rod through-hole of piston rod guide cylinder 3. As shown in fig. 5, a U-shaped pull rod 5 with a downward opening is fixed at the bottom of the piston rod 4 through a stud 13 horizontally penetrating through the piston rod; as shown in FIG. 6, the left and right side walls of the piston rod guide cylinder 3 are provided with pull rod guide grooves 3-1 with the bottoms penetrating through the pull rod guide grooves 3-1, the interiors of the pull rod guide grooves 3-1 are communicated with the piston rod moving through hole of the piston rod guide cylinder 3, and the U-shaped pull rod 5 is driven by the piston rod 4 to vertically move along the pull rod guide grooves 3-1.
The front side wall and the rear side wall of each of the two vertical rods of the U-shaped pull rod 5 are respectively fixed with a sliding pin 6 perpendicular to the U-shaped pull rod, the sliding pins 6 on the two vertical rods of the U-shaped pull rod 5 are arranged in a bilateral symmetry manner, and the sliding pins 6 on each vertical rod are arranged in a front-back symmetry manner. Gripping devices are respectively arranged on the front side and the rear side of the piston rod guide cylinder 3 and are formed by hinging two connecting rods 8 with adjustable lengths, the connecting rods 8 are all arranged in parallel with the U-shaped pull rod 5, a clamping jaw 11 is fixed on the inner side of the bottom of each connecting rod 8, and the clamping jaws 11 of the two hinged connecting rods 8 are arranged oppositely. The sliding pins 6 are arranged in one-to-one correspondence with the connecting rods 8, sliding grooves 9 penetrating through the front side wall and the rear side wall of each connecting rod 8 are formed in the upper portion of each connecting rod 8 along the length direction of each connecting rod, each sliding pin 6 is inserted into the corresponding sliding groove 9 of the corresponding connecting rod 8, a guide block 7 is fixed to one end, penetrating through the corresponding sliding groove 9, of each sliding pin 6, and the guide blocks 7 are in contact with the corresponding connecting rods 8. When the U-shaped pull rod 5 vertically moves along the pull rod guide groove 3-1, under the guiding action of the guide block 7, the sliding pin 6 is driven to linearly move along the sliding groove 9, and the two hinged connecting rods 8 of each grabbing device are driven to rotate left and right in a vertical plane, so that the included angle between the two hinged connecting rods 8 is reduced/increased, and the two opposite clamping jaws 11 are driven to approach/separate to grab/loosen the pipe fitting. All set up grabbing device around piston rod guide cylinder 3, it is big to grab power, can carry out the work of snatching of the great pipe fitting of quality, and the pipe fitting stress point increases, and the atress is more balanced, has effectively guaranteed to snatch stability. In addition, the guide block 7 is provided to prevent the connecting rod 8 from bending so that the slide pin 6 flies out of the slide groove 9.
Specifically, as shown in fig. 3, the length-adjustable connecting rod 8 is composed of an upper connecting rod 8-1 and a lower connecting rod 8-2, the upper connecting rod 8-1 is provided with a mounting hole 8-1-1, a lower connecting rod accommodating groove 8-1-2 and a plurality of button telescopic holes 8-1-3, the mounting hole 8-1-1 is located at the upper part of the upper connecting rod 8-1 and penetrates through the upper connecting rod 8-1 from front to back, the lower connecting rod accommodating groove 8-1-2 is located at the lower part of the upper connecting rod 8-1 and penetrates through the bottom of the upper connecting rod 8-1 vertically, and the plurality of button telescopic holes 8-1-3 are respectively located at the left side and the right side of the upper connecting rod 8-1 and penetrate through the upper connecting rod 8-1. The two connecting rods 8 are hinged through bolts and mounting holes 8-1-1. The upper end of the lower connecting rod 8-2 is arranged in the lower connecting rod accommodating groove 8-1-2, the upper end of the lower connecting rod is provided with two telescopic button guide holes 8-2-1, a telescopic button 8-2-2 and a spring 8-2-3, the two telescopic button guide holes 8-2-1 are respectively positioned at the left side and the right side of the upper part of the upper connecting rod 8-1, each telescopic button guide hole 8-2-1 is provided with the spring 8-2-3 along the length direction, one end of the spring 8-2-3 is fixedly connected with the bottom of the telescopic button guide hole (8-2-1), the other end of the telescopic button 8-2-2 is fixedly connected with one end of the telescopic button 8-2-2 positioned in the telescopic button guide hole 8-2-1, and the other end of the telescopic button 8-2-2 extends out of the upper connecting rod 8-1 through the button telescopic hole 8-1-3. The diameter of one end of the telescopic button 8-2-2, which is positioned in the telescopic button guide hole 8-2-1, is larger than the diameter of the button telescopic hole 8-1-3 and slightly smaller than the diameter of the telescopic button guide hole 8-2-1, so that the acting surface of the telescopic button 8-2-2 can be effectively enlarged, then telescopic guiding is carried out, and the telescopic button 8-2-2 can carry out linear telescopic motion along the telescopic button guide hole 8-2-1 under the action of external pressure. The sliding groove 9 is arranged in the middle of the lower connecting rod 8-2, and the clamping jaw 11 is fixed on the inner side of the lower end of the lower connecting rod 8-2.
When the diameter of a grabbed pipe is reduced and the distance between two opposite clamping jaws 11 needs to be reduced, two telescopic buttons 8-2-2 are simultaneously acted by external pressure, a spring 8-2-3 is compressed, when the telescopic button 8-2-2 completely enters a telescopic button guide hole 8-2-1, the lower connecting rod 8-2 is contracted in the upper connecting rod 8-1, and when the telescopic button reaches the previous button telescopic hole 8-1-3, the telescopic button 8-2-2 extends out of the upper connecting rod 8-1 through the button telescopic hole 8-1-3 under the elastic force action of the spring 8-2-3, so that the distance between sliding grooves 9 on the two connecting rods 8 is reduced, and the distance is gradually reduced. When the diameter of a grabbed pipe is increased and the distance between two opposite clamping jaws 11 needs to be increased, the telescopic button 8-2-2 is acted by external pressure, the spring 8-2-3 is compressed, when the telescopic button 8-2-2 completely enters the telescopic button guide hole 8-2-1, the lower connecting rod 8-2 is pulled out of the upper connecting rod 8-1, and when the telescopic button 8-2-2 reaches the next button telescopic hole 8-1-3, the telescopic button 8-2-2 extends out of the upper connecting rod 8-1 through the button telescopic hole 8-1-3 under the elastic force action of the spring 8-2-3, so that the distance between the sliding grooves 9 on the two connecting rods 8 is increased, and the distance is increased step by step.
The clamping jaw 11 is hollow, air injection holes 14 are uniformly formed in the inner wall of the clamping jaw 11, air inlet holes 12 are formed in the outer wall of the clamping jaw, and the air inlet holes 12 are communicated with an air source. As shown in fig. 4, in the present embodiment, three air inlets 12 are provided on the outer wall of each clamping jaw 11, which correspond to the middle, upper and lower portions of the clamping jaw 11, respectively, so as to ensure the air injection effect. When the robot drives the terminal execution hand claw of robot of this embodiment to be close to the pipe fitting, two relative clamping jaws 11 are all jet-propelled simultaneously, get rid of and get the liquid such as cutting fluid, lubricating oil of position, prevent effectively that liquid such as cutting fluid, lubricating oil on pipe fitting surface from causing the dropout of the pipe fitting when snatching, removing, have improved and have snatched the quality. Because this implementation adopts the cylinder as actuating mechanism, consequently, adopts the jet-propelled pipe fitting surface liquid of getting rid of, and clamping jaw 11 and cylinder 2 can adopt same air supply, are convenient for implement the operation.
The both ends of spout 9 are provided with elastic material layer 10, and elastic material layer 10 plays the guard action at first, prevents that the cylinder from driving piston rod 4 flexible speed too fast among the debugging process for sliding pin 6 bumps with the inside emergence of spout 9. The both ends of 9 spout set up elastic material layer 10, realize the flexibility and snatch, prevent to debug improper or when snatching the position and be inaccurate enough, each part mechanical connection causes clamping jaw 11's damage, can enough guarantee to press from both sides and get speed, can protect clamping jaw 11 again. The length of the chute 9 is designed according to the size of the grabbed pipe fitting, and the elastic material layer 10 is a solid material layer with elasticity, such as a rubber layer and a silica gel layer.
During operation, the length of the connecting rod 8 is adjusted according to the diameter of the pipe fitting, and then grabbing work is carried out. When snatching, the robot drives the terminal execution hand claw of robot of this embodiment and reachs and snatchs the position after, and cylinder 2 exhausts, and piston rod 4 upward movement drives slide pin 6 along spout 9 upward movement, and two articulated connecting rods 8 rotate and make its contained angle diminish, drive two relative clamping jaws 11 and be close to and get the pipe fitting, and simultaneously, the fumarole 14 of clamping jaw 11 is jet-propelled, gets rid of and snatchs liquid such as cutting fluid, lubricating oil of position department. Snatch successful back, the robot drives the terminal execution hand claw of robot of this embodiment and removes, reachs the pipe fitting and places the position after, and cylinder 2 admits air, and piston rod 4 downstream drives slide pin 6 along spout 9 downstream, and two articulated connecting rods 8 rotate and make its contained angle grow, drive two relative clamping jaws 11 and keep away from, loosen the pipe fitting.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. The robot tail end execution paw is characterized by comprising a fixing plate (1), an air cylinder (2) and a piston rod guide cylinder (3), wherein the air cylinder (2) is installed at the top of the fixing plate (1), and the piston rod guide cylinder (3) is installed at the bottom of the fixing plate (1); a piston rod (4) of the air cylinder (2) is positioned in a piston rod guide cylinder (3), a U-shaped pull rod (5) with a downward opening is fixed at the end part of the piston rod guide cylinder, pull rod guide grooves (3-1) penetrating through the piston rod guide cylinder are formed in the left side wall and the right side wall of the piston rod guide cylinder (3), and the U-shaped pull rod (5) is driven by the piston rod (4) to vertically move along the pull rod guide grooves (3-1); the front side wall and the rear side wall of each of two vertical rods of the U-shaped pull rod (5) are respectively fixed with a sliding pin (6) perpendicular to the U-shaped pull rod, the front side and the rear side of the piston rod guide cylinder (3) are respectively provided with a grabbing device, each grabbing device is formed by hinging two connecting rods (8) with adjustable lengths, the connecting rods (8) are both arranged in parallel with the U-shaped pull rod (5), the inner side of the bottom of each connecting rod (8) is fixed with a clamping jaw (11), and the clamping jaws (11) of the two hinged connecting rods (8) are arranged oppositely; the sliding pins (6) and the connecting rods (8) are arranged in a one-to-one correspondence mode, sliding grooves (9) penetrating through the front side wall and the rear side wall of the connecting rods (8) are formed in the upper portions of the connecting rods (8) along the length direction of the connecting rods, each sliding pin (6) is located in the corresponding sliding groove (9) of the connecting rod (8), and the sliding pins (6) are driven by the piston rods (4) and the U-shaped pull rods (5) to move linearly along the sliding grooves (9).
2. The robot tail end execution paw as recited in claim 1, characterized in that the length-adjustable connecting rod (8) is composed of an upper connecting rod (8-1) and a lower connecting rod (8-2), the chute (9) is arranged in the middle of the lower connecting rod (8-2), the clamping jaw (11) is fixed on the lower inner side of the lower connecting rod (8-2), and the lower connecting rod (8-2) can perform linear telescopic motion along the upper connecting rod (8-1).
3. The robot tail end execution paw as recited in claim 2, characterized in that the upper connecting rod (8-1) is provided with a mounting hole (8-1-1), a lower connecting rod accommodating groove (8-1-2) and a plurality of button telescoping holes (8-1-3), the mounting hole (8-1-1) is located at the upper part of the upper connecting rod (8-1) and penetrates the upper connecting rod (8-1) in the front-back direction, the lower connecting rod accommodating groove (8-1-2) is located at the lower part of the upper connecting rod (8-1) and penetrates the bottom of the upper connecting rod (8-1) in the vertical direction, the button telescopic holes (8-1-3) are respectively arranged at the left side and the right side of the upper connecting rod (8-1) and penetrate through the upper connecting rod (8-1) to be communicated with the lower connecting rod accommodating groove (8-1-2) in the upper connecting rod;
the upper end of the lower connecting rod (8-2) is arranged in the lower connecting rod accommodating groove (8-1-2), two telescopic button guide holes (8-2-1), two telescopic buttons (8-2-2) and two springs (8-2-3) are arranged on the upper end of the lower connecting rod (8-2), the two telescopic button guide holes (8-2-1) are respectively positioned at the left side and the right side of the upper part of the upper connecting rod (8-1), each telescopic button guide hole (8-2-1) is provided with a spring (8-2-3) along the length direction, one end of each spring (8-2-3) is fixedly connected with the bottom of the corresponding telescopic button guide hole (8-2-1), and the other end of each spring is fixedly connected with one end of one telescopic button (8-2-2) positioned in the corresponding telescopic button guide hole (8-2-, the other end of the telescopic button (8-2-2) extends out of the upper connecting rod (8-1) through a button telescopic hole (8-1-3), and the telescopic button (8-2-2) can perform linear telescopic motion along the telescopic button guide hole (8-2-1) under the action of external pressure.
4. A robot end effector paw according to claim 3, characterised in that the diameter of the telescopic button (8-2-2) at the end located inside the telescopic button guiding hole (8-2-1) is larger than the diameter of the button telescopic hole (8-1-3).
5. A robot end effector paw, according to claim 1, characterised in that the sliding pins (6) on both vertical bars of the U-shaped draw bar (5) are arranged side-to-side symmetrically, and the sliding pins (6) on each vertical bar are arranged front-to-back symmetrically.
6. A robot end effector paw as claimed in any one of claims 1 to 5, characterised in that a guide block (7) is fixed to the end of the sliding pin (6) that passes through the runner (9), and the guide block (7) is in contact with the connecting rod (8).
7. A robot end execution paw as claimed in any one of claims 1-5, characterized in that the inside of the gripping jaw (11) is hollow, and the inner wall of the gripping jaw (11) is provided with air injection holes (14) and the outer wall thereof is provided with air inlet holes (12).
8. A robot end effector paw as claimed in any one of claims 1-5, characterised in that both ends of the runner (9) are provided with a layer of resilient material (10).
9. A robot end effector paw according to claim 8, characterised in that said elastic material layer (10) is a rubber or silicone layer.
10. The robot tail end execution paw as claimed in any one of claims 1 to 5 or 9, characterized in that a piston rod moving through hole penetrating through the piston rod guide cylinder (3) from top to bottom is formed in the center of the piston rod guide cylinder, the end of the piston rod (4) of the air cylinder (2) penetrates through the fixing plate (1) and is located in the piston rod moving through hole of the piston rod guide cylinder (3), and the piston rod (4) can perform vertical telescopic motion along the piston rod moving through hole of the piston rod guide cylinder (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020073862.8U CN211466444U (en) | 2020-01-14 | 2020-01-14 | Robot tail end execution paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020073862.8U CN211466444U (en) | 2020-01-14 | 2020-01-14 | Robot tail end execution paw |
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| Publication Number | Publication Date |
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| CN211466444U true CN211466444U (en) | 2020-09-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN202020073862.8U Expired - Fee Related CN211466444U (en) | 2020-01-14 | 2020-01-14 | Robot tail end execution paw |
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| CN (1) | CN211466444U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497254A (en) * | 2020-11-30 | 2021-03-16 | 南京宏典园林工程有限公司 | Automatic industrial robot tracks and snatchs mechanism |
| CN114290364A (en) * | 2022-01-25 | 2022-04-08 | 吉林化工学院 | Novel gripper for machine manufacturing |
| CN114800585A (en) * | 2022-05-09 | 2022-07-29 | 西南交通大学 | High-precision tail end mechanical clamping jaw and method for picking grapes |
| CN115194741A (en) * | 2022-09-15 | 2022-10-18 | 江苏和为警用器材制造有限公司 | Manipulator arm assembly, manipulator and use method of manipulator |
| CN117513744A (en) * | 2024-01-05 | 2024-02-06 | 中铁城建集团第一工程有限公司 | Template reinforcing device with adjustable clamping distance and working method thereof |
-
2020
- 2020-01-14 CN CN202020073862.8U patent/CN211466444U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497254A (en) * | 2020-11-30 | 2021-03-16 | 南京宏典园林工程有限公司 | Automatic industrial robot tracks and snatchs mechanism |
| CN114290364A (en) * | 2022-01-25 | 2022-04-08 | 吉林化工学院 | Novel gripper for machine manufacturing |
| CN114800585A (en) * | 2022-05-09 | 2022-07-29 | 西南交通大学 | High-precision tail end mechanical clamping jaw and method for picking grapes |
| CN115194741A (en) * | 2022-09-15 | 2022-10-18 | 江苏和为警用器材制造有限公司 | Manipulator arm assembly, manipulator and use method of manipulator |
| CN117513744A (en) * | 2024-01-05 | 2024-02-06 | 中铁城建集团第一工程有限公司 | Template reinforcing device with adjustable clamping distance and working method thereof |
| CN117513744B (en) * | 2024-01-05 | 2024-03-22 | 中铁城建集团第一工程有限公司 | Template reinforcing device with adjustable clamping distance and working method thereof |
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