CN212123341U

CN212123341U - Pneumatic mechanical gripper of robot

Info

Publication number: CN212123341U
Application number: CN202020902225.7U
Authority: CN
Inventors: 范振; 黄玉林; 张来伟; 陈乃建; 王旭; 孙建波
Original assignee: University of Jinan
Current assignee: University of Jinan
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2020-12-11
Anticipated expiration: 2030-05-26

Abstract

The utility model discloses a pneumatic manipulator claw of robot, including six robots, manipulator claw, roof, rod end joint bearing, pair angular contact bearing and take the slim cylinder of guide arm. The pneumatic mechanical gripper is connected with the tail end of the six-axis robot through the upper end of the top plate, the mechanical gripper is installed on two sides of the top plate through a mechanical gripper connecting shaft and paired duplex angular contact bearings and is connected to the tail end of the cylinder through a rod end joint bearing and a connecting rod, and the thin cylinder with the guide rod is fixed in the center of the lower end of the top plate. The utility model discloses a take the slim cylinder of guide arm to drive the gripper motion of opening and shutting of both sides, reached its purpose to snatching and carrying of materials such as gangue.

Description

Pneumatic mechanical gripper of robot

Technical Field

The utility model relates to an industrial robot technical field belongs to a six robots and pneumatic mechanical tongs and combines together the device that snatchs and transport the gangue.

Background

The mechanical paw is often used for clamping and carrying articles, but most mechanical paws with smaller volume have complex structures, smaller clamping force and shorter stroke, and can carry articles with smaller volume and weight; the weight of one coal gangue with the diameter of 30cm is about 24kg, the clamping force and the stroke of the universal mechanical gripper for the coal gangue with large volume do not meet the use requirements, the clamping and the carrying are unstable, and the working efficiency is low.

CN209125847U discloses a pneumatic gripper for an industrial robot, which overcomes the defects of complex structure, easy workpiece clamping and the like of the traditional mechanical gripper, and adopts pin shaft connection for structural connection; the utility model is arranged at the end of a six-axis robot, and is driven by the six-axis robot to carry, thus being more flexible; the joint of the movable structure adopts a pair of duplex angular contact bearings to be connected with a rod end joint bearing so as to reduce friction; the lower limbs of the mechanical claw adopt a proper radian structure, so that large-diameter materials and small-diameter materials can be grabbed, and different lower limbs of the mechanical claw can be replaced according to different materials with different shapes.

Disclosure of Invention

For increase centre gripping dynamics and stroke, improve its transport stability, the utility model provides a pneumatic manipulator claw of robot.

A pneumatic mechanical gripper of a robot comprises a six-axis robot, a top plate, a thin cylinder with a guide rod, a cylinder tail end, a connecting rod, a rod end joint bearing, a mechanical gripper and paired duplex angular contact bearings. The pneumatic mechanical paw is integrally arranged at the tail end of the six-axis robot and moves along with the six-axis robot to realize the carrying process; the mechanical paw is arranged on two sides of the top plate through a mechanical paw connecting shaft and paired duplex angular contact bearings, the thin cylinder with the guide rod drives the tail end of the cylinder to reciprocate up and down, and a transmission mechanism consisting of the rod end joint bearing, the connecting rod and the rod end joint bearing drives the mechanical paw on two sides to move in an opening and closing mode, so that the purposes of grabbing and carrying materials such as coal gangue are achieved.

The mechanical paw is formed by fixing a mechanical paw upper limb, a mechanical paw connecting piece and a mechanical paw lower limb through bolt connection, two paired duplex angular contact bearings are arranged in the mechanical paw upper limb, the mechanical paw lower limb has a certain radian, and a through hole is formed in the middle of the mechanical paw connecting piece so as to install a rod end joint bearing.

The thin cylinder with the guide rod is connected and installed at the midpoint of the top plate through a screw, and the top of the guide rod is provided with the tail end of the cylinder; the tail end of the air cylinder is provided with grooves and through holes at the left side and the right side thereof for connecting and installing rod end joint bearings, and the rod end joint bearings are connected with the rod end joint bearings installed on the mechanical gripper connecting pieces through connecting rods to form a transmission mechanism so as to realize the control of the thin air cylinder with the guide rod on the opening and closing of the mechanical grippers at the two sides.

The pneumatic mechanical gripper of the robot is integrally arranged at the tail end of a six-axis robot and moves along with the six-axis robot to realize the purpose of carrying, and the six-axis robot is more flexible and can rotate and linearly move; the power is transmitted through the transmission mechanism to indirectly realize the control of the thin cylinder with the guide rod on the opening and closing movement of the mechanical claws at the two sides. The double-linkage angular contact bearing has the advantages that the opening and closing stroke is large, the clamping force is high, the double-linkage angular contact bearing is flexible, the carrying stability is high, and the double-linkage angular contact bearing can bear large radial force and certain axial force; the device has the advantages of simple and compact overall structure, convenient installation, high detachability, and is beneficial to maintenance and repair and suitable for occasions with severe environment.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a robot pneumatic gripper.

Fig. 2 is a schematic structural diagram of a pneumatic gripper of a robot pneumatic gripper.

Fig. 3 is a schematic front view of a pneumatic gripper of a robotic pneumatic gripper.

Fig. 4 is a partial cross-sectional view of portion i of fig. 2.

In the figure: the robot comprises a six-axis robot base 1, a six-axis robot 2, a pneumatic mechanical claw 3, a six-axis robot tail end 4, a mechanical claw 5 (a mechanical claw lower limb 5a, a mechanical claw upper limb 5b and a mechanical claw connecting piece 5 c), a mechanical claw intermediate shaft 6, a connecting rod 7, a cylinder tail end 8, a mechanical claw connecting shaft 9, a thin cylinder with a guide rod 10, a top plate 11, a rod end joint bearing 12, a duplex angular contact bearing 13, a sleeve 14 and a retainer ring for 15 holes.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

Fig. 1 shows the overall structure of a robot pneumatic gripper

The utility model relates to a gangue pneumatic mechanical gripper based on six robots, its main part pneumatic mechanical gripper (3) are fixed in six robot end (4) through the screw connection installation by roof (11), because of six robots (2) can realize linear motion and use six robot base (1) to carry out rotary motion as the center, so its flexibility is higher.

Fig. 2 shows a schematic structural diagram of a pneumatic gripper of a robot.

The pneumatic mechanical paw mainly comprises a mechanical paw (a mechanical paw lower limb (5 a), a mechanical paw upper limb (5 b) and a mechanical paw connecting piece (5 c)), a connecting rod (7), a cylinder tail end (8), a thin cylinder (10) with a guide rod, a top plate (11) and a rod end joint bearing (12). The implementation mode is that a thin cylinder (10) with a guide rod drives the tail end (8) of the cylinder to reciprocate up and down, and the tail end (8) of the cylinder pushes a transmission mechanism consisting of a rod end joint bearing (12), a connecting rod (7) and the rod end joint bearing (12) to drive mechanical claws (5) on two sides to move in an opening and closing mode, so that the purposes of grabbing and carrying materials such as coal gangue are achieved. The center of the top plate (11) is provided with a plurality of through holes for being connected and installed at the tail end of the six-axis robot through screws, and two sides of the top plate are provided with grooves and the through holes for installing mechanical claws (5). The mechanical paw is characterized in that the mechanical paw (5) is formed by fixing a mechanical paw upper limb (5 b), a mechanical paw connecting piece (5 c) and a mechanical paw lower limb (5 a) through bolts, and a through hole is formed in the middle of the mechanical paw connecting piece (5 c) for installing a rod end joint bearing (12).

Fig. 3 is a schematic front view of a robot pneumatic gripper.

The thin cylinder (10) with the guide rod is connected and installed at the center of the top plate (11) through a screw, and the top of the guide rod is fixedly connected with the tail end (8) of the cylinder through a screw; the left side and the right side of the tail end (8) of the cylinder are provided with grooves and through holes for connecting and installing rod end joint bearings (12), the rod end joint bearings (12) are connected with the rod end joint bearings (12) installed on the mechanical paw connecting pieces (5 c) through connecting rods (7) to form a transmission mechanism, and therefore the thin cylinder (10) with the guide rod can reciprocate up and down to control the opening and closing of the mechanical paws (5) on the two sides.

Fig. 4 is a schematic partial cross-sectional view of section i of fig. 2.

The mechanical paw upper limb (5 b) is internally provided with a through hole and a hole shoulder, a pair of duplex angular contact bearings (13) are mounted at the inner hole shoulder to reduce friction, the outer rings of the pair of duplex angular contact bearings (13) are positioned by the hole shoulder and a hole retainer ring (15), and the inner rings are positioned by the mechanical paw connecting shaft (9) and the sleeve (14) respectively.

The whole device is arranged at the tail end (4) of the six-axis robot through a top plate (11), and the thin cylinder (10) with the guide rod reciprocates up and down to indirectly control the opening and closing of the mechanical claws (5) at two sides through a transmission mechanism, so that the purposes of grabbing and carrying materials such as coal gangue and the like are achieved.

The above-described embodiments of the invention are intended to be illustrative, but not exclusive, and all changes which come within the scope of the invention or the range of equivalents thereof are intended to be embraced therein.

Claims

1. A pneumatic mechanical gripper of a robot comprises a six-axis robot (2), a mechanical gripper (5), a connecting rod (7), a cylinder tail end (8), a thin cylinder (10) with a guide rod, a top plate (11), a rod end joint bearing (12) and a pair of duplex angular contact bearings (13); the robot is characterized in that the top plate (11) is provided with a plurality of through holes for being connected and installed at the tail end (4) of the six-axis robot through screws, and through holes and grooves are formed in the two sides of the top plate for installing a mechanical claw connecting shaft (9) for being connected with a mechanical claw (5); the mechanical gripper (5) is arranged on two sides of the top plate (11) through a mechanical gripper connecting shaft (9) and paired duplex angular contact bearings (13), a thin cylinder (10) with a guide rod drives the tail end (8) of the cylinder, and a transmission mechanism consisting of a rod end joint bearing (12), a connecting rod (7) and a rod end joint bearing (12) drives the mechanical gripper (5) on two sides to move in an opening and closing manner, so that the purposes of grabbing and carrying materials such as coal gangue and the like are achieved; the thin cylinder (10) with the guide rod is connected and installed at the center of the top plate (11) through a screw.

2. The mechanical paw according to claim 1, characterized in that the mechanical paw is composed of a mechanical paw upper limb (5 b), a mechanical paw connecting piece (5 c) and a mechanical paw lower limb (5 a), wherein the mechanical paw upper limb (5 b) is provided with a through hole on the side surface, two paired duplex angular contact bearings (13) are arranged in the through hole, the mechanical paw lower limb (5 a) has a certain radian and can replace different mechanical paw lower limbs (5 a) according to different materials with different shapes, and a rod end joint bearing (12) is arranged in the middle of the mechanical paw connecting piece (5 c); the tail end (8) of the cylinder is characterized in that the tail end is connected and arranged on the top of a guide rod of a thin cylinder (10) with a guide rod through a screw, and the thin cylinder (10) with the guide rod drives the tail end to reciprocate up and down; through holes and grooves are arranged on the two sides of the mechanical gripper connecting piece to install rod end joint bearings (12), and the mechanical gripper connecting piece (5 c) is connected with the rod end joint bearings (12) through connecting rods (7) to form a transmission mechanism.