CN214394258U

CN214394258U - Pneumatic clamping jaw and manipulator with same

Info

Publication number: CN214394258U
Application number: CN202023204867.9U
Authority: CN
Inventors: 毛世鑫
Original assignee: Shenzhen Inovic Education Technology Co ltd
Current assignee: Jiutian Chuangzhi Shenzhen Technology Co ltd
Priority date: 2020-12-27
Filing date: 2020-12-27
Publication date: 2021-10-15
Anticipated expiration: 2030-12-27

Abstract

The utility model relates to a flexible mechanical hand field discloses a pneumatic clamping jaw and have manipulator of this pneumatic clamping jaw, pneumatic clamping jaw includes: the base comprises a support, a rotary table, a base plate and a knob, the support is fixedly connected with the base plate, the rotary table is arranged between the support and the base plate, the rotary table can rotate relative to the support, the knob is arranged on the support, and one end of the knob is connected with the rotary table and can drive the rotary table to rotate relative to the base plate; the clamping mechanism is arranged on the chassis and can slide relative to the chassis. Based on the structure, at least two clamping mechanisms are driven by one rotary table, so that the sliding distances of the at least two clamping mechanisms are always equal, the distances from the at least two clamping mechanisms to the center are always equal, and the clamping force exerted on the workpiece by the clamping mechanisms is ensured to be equal.

Description

Pneumatic clamping jaw and manipulator with same

Technical Field

The utility model relates to a flexible mechanical hand field especially relates to a pneumatic clamping jaw and have manipulator of this pneumatic clamping jaw.

Background

In the operation of snatching in mill, what generally adopt at present is that traditional anchor clamps such as mechanical clamping jaw, vacuum chuck snatch article, often can receive the influence of product different shapes, material, position, lead to unable smooth snatching. Different from the rigid structure of the traditional claw hand, the flexible gripper has soft pneumatic fingers, can self-adaptively coat a target object, does not need to be pre-adjusted according to the accurate size and shape of the object, and gets rid of the constraint that the traditional production line requires the production object to be equal in size. The clamping jaw finger part comprises flexible material, snatch the finger of action similar people, have flexibility and can wrap up the product automatically, thereby avoid causing physical damage to the product, be applicable to food, the car, daily use chemicals, medical treatment, many fields such as 3C electron, can integrate to intelligent assembly, automatic sorting, logistics storage and food processing assembly line, also can regard as scientific research experimental facilities, intelligent amusement equipment or service robot's functional accessory, be the requirement and realize intelligence, it is harmless, high security, the customer's of action is snatched to high adaptability ideal selection.

In order to enable the pneumatic gripper to adapt to gripping target objects of different sizes in different scenes, the gripper fingers are designed to be slidable relative to the base. However, the existing pneumatic clamping jaws slide independently relative to the base, and when the pneumatic fingers are adjusted, it is difficult to ensure that the distance between each pneumatic finger and the clamped circle center is equal, so that the clamped target object is unstable due to different clamping forces exerted on the target object by each pneumatic finger.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a aim at providing a pneumatic clamping jaw and have manipulator of this pneumatic clamping jaw, the pneumatic finger of this pneumatic clamping jaw remains on the same circle all the time, has avoided the technical problem uneven to target object clamping-force.

The embodiment of the utility model provides a solve its technical problem and adopt following technical scheme: providing a pneumatic gripper, comprising:

the base comprises a support, a rotary disc, a base plate and a knob, the support is fixedly connected with the base plate, the rotary disc is arranged between the support and the base plate, the rotary disc can rotate relative to the support, the knob is arranged on the support, and one end of the knob is connected with the rotary disc and can drive the rotary disc to rotate relative to the base plate;

the clamping mechanisms are arranged on the base plate and can slide relative to the base plate, the turntable is connected with the clamping mechanisms, and when the turntable rotates, the clamping mechanisms can be driven to slide relative to the base plate.

In some embodiments, a gear portion is disposed at one end of the knob, a circular tooth socket is disposed on a surface of the rotary disc facing the bracket, the gear portion and the circular tooth socket are engaged with each other, and the rotary disc can be driven to rotate relative to the bracket and the chassis by rotating the knob.

In some embodiments, the bracket is provided with a first sliding groove, the chassis is provided with a second sliding groove, the turntable is provided with a clamping groove, the first sliding groove and the second sliding groove are aligned along a rotation direction of the turntable, the clamping groove and the second sliding groove are intersected with each other, one end of the clamping mechanism respectively passes through the clamping groove and the second sliding groove, and the clamping mechanism can slide relative to the chassis along the second sliding groove.

In some embodiments, the clamping mechanism includes a sliding seat, a flexible finger, and an air inlet pipe, the flexible finger is mounted on the sliding seat, the air inlet pipe is mounted on the sliding seat and communicated with the flexible finger, and the air inlet pipe penetrates through the first sliding groove.

In some embodiments, the clamping mechanism further includes a clamping portion surrounding the air inlet pipe and connected to the sliding seat, and the clamping portion is inserted into the clamping groove and the first sliding groove respectively and located at an intersection of the clamping groove and the first sliding groove.

In some embodiments, the sliding seat comprises a base part and a sliding part, the sliding part is mounted on the base part, and the sliding part is embedded in the second sliding groove and can slide along the second sliding groove; the flexible finger is mounted on the base part, and the clamping part is connected to the sliding part.

In some embodiments, the number of the clamping mechanisms is four, and the four clamping mechanisms are distributed in a cross shape.

In some embodiments, a surface of the bracket is recessed inward to form a groove, the shape of the groove is matched with that of the turntable, when the bracket and the chassis are buckled with each other, the groove is sealed by a surface of the chassis to form a containing space, and the turntable is located in the containing space and can rotate relative to the bracket.

In some embodiments, a mounting groove is arranged in the support, and the mounting groove is positioned on one side of the groove and is communicated with the groove; a mounting hole is formed in one side wall of the mounting groove, the gear portion of the knob is located in the mounting groove, the other end of the knob penetrates through the mounting hole and is suspended outside the support, and the gear portion of the knob can rotate in the mounting groove.

The embodiment of the utility model provides a solve its technical problem and still adopt following technical scheme: there is provided a robot comprising a pneumatic gripper as described above.

Compared with the prior art, the embodiment of the utility model provides an among the pneumatic clamping jaw and the manipulator that has this pneumatic clamping jaw, it is rotatory for the chassis through rotatory knob in order to drive the carousel, promotes fixture slides for the chassis, and then synchronous adjustment is four distance between the fixture is so that four but fixture centre gripping unidimensional work piece. Furthermore, because at least two fixture are driven by a carousel, consequently two fixture's sliding distance equals all the time for at least fixture equals all the time apart from the distance at center, thereby guarantees that fixture exerts the clamping-force on the work piece and equals, also can think this pneumatic clamping jaw is even to the application of force of work piece, in order to avoid at the in-process of centre gripping work piece, because of the application of force inequality, causes the work piece to turn on one's side.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is a schematic structural view of a pneumatic clamping jaw according to an embodiment of the present invention;

FIG. 2 is another schematic view of the pneumatic clamp jaw of FIG. 1;

FIG. 3 is an exploded schematic view of the pneumatic clamp jaw shown in FIG. 1;

FIG. 4 is a partial cross-sectional view of the clamping mechanism shown in FIG. 3;

FIG. 5 is a schematic view of the structure of the cradle in the pneumatic clamp jaw shown in FIG. 1;

fig. 6 is a schematic view of the structure of the gripping mechanism in the pneumatic jaw shown in fig. 1.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described in more detail with reference to the accompanying drawings and specific embodiments. It will be understood that when an element is referred to as being "connected" to another element, it can be directly on the other element or intervening elements may be present. The terms "upper", "lower", "left", "right", "upper", "lower", "top" and "bottom" used in the present specification indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Referring to fig. 1 and fig. 2, a pneumatic clamping jaw 100 according to an embodiment of the present invention includes a base 10 and at least two clamping mechanisms 20, wherein one end of each of the at least two clamping mechanisms 20 is mounted on the base 10 and can slide relative to the base 10.

As shown in fig. 3, the base 10 includes a bracket 11, a rotary plate 12, a chassis 13 and a knob 14, the bracket 11 and the chassis 13 are fixedly connected and fastened to each other to form an accommodating space (not shown), and the rotary plate 12 is installed between the bracket 11 and the chassis 13 and located in the accommodating space. As shown in fig. 4, the rotary plate 12 is rotatable relative to the bracket 11, one surface of the rotary plate 12 facing the bracket 11 is provided with an annular tooth groove 121, and one end of the knob 14 is provided with a gear portion 141. The knob 14 is mounted on the bracket 11, and the gear portion 141 of the knob 14 is engaged with the annular tooth groove 121, so that the dial 12 can be driven to rotate relative to the bracket 11 by rotating the knob 14.

As shown in fig. 5, the bracket 11 is substantially in a circular truncated cone shape, a surface of the bracket 11 is recessed inward to form a groove 111, the shape of the groove 111 matches the shape of the rotary disc 12, when the bracket 11 and the chassis 13 are fastened to each other, the groove 111 is closed by a surface of the chassis 13 to form an accommodating space, and the rotary disc 12 is located in the accommodating space and can rotate relative to the bracket 11. An installation groove 112 is formed in the support, and the installation groove 112 is located on one side of the groove 111 and communicated with the groove 111. A mounting hole 113 is formed in one side wall of the mounting groove 112, the gear portion 141 of the knob 14 is located in the mounting groove 112, the other end of the knob 14 passes through the mounting hole 113 and is suspended outside the bracket 11, and the gear portion 141 of the knob can rotate in the mounting groove 112. The bracket 11 is further provided with a first sliding groove 114, and the first sliding groove 114 penetrates through the bracket 11.

Referring to fig. 3 and 5 again, the turntable 12 is disc-shaped, the edge of one surface of the turntable is provided with an annular tooth groove 121, the middle of the turntable is provided with a circular through hole 122, the bottom surface of the groove 111 is provided with a circular boss 115, and the circular boss 115 passes through the circular through hole 122, so that the turntable 12 can rotate around the circular boss 115. The rotary plate 12 is provided with a clamping groove 123, and the clamping groove 123 intersects with the first sliding groove 114 (i.e. the clamping groove 123 and the first sliding groove 114 intersect with each other).

The base plate 13 has a disk shape, and is provided with a second sliding groove 131, and the second sliding groove 131 is aligned with the first sliding groove 114 along the axial direction of the circular boss 115. The first sliding grooves 114, the clamping grooves 123, the second sliding grooves 131 and the clamping mechanisms 20 are equal in number and correspond to one another. The card slot 123 and the second sliding slot 131 cross each other

The number of the clamping mechanisms 20 is at least two, and in the present embodiment, four clamping mechanisms 20 are taken as an example for description. The four clamping mechanisms 20 are distributed in a cross shape, and the four clamping mechanisms 20 are all arranged on the mounting support 30 and are used for clamping workpieces together.

Referring to fig. 3 and 6, each of the clamping mechanisms 20 includes a sliding seat 21, a flexible finger 22 and an air inlet tube 23. The flexible finger 22 is mounted on the sliding seat 21, the air inlet pipe 23 is mounted on the sliding seat 21 and communicated with the flexible finger 22, and the air inlet pipe 23 passes through the first sliding groove 114 and can slide in the first sliding groove 114.

The slide base 21 includes a base portion 211 and a slide portion 212. The sliding portion 212 is mounted on the base portion 211, and the sliding portion 212 is embedded in the second sliding groove 131 and can slide along the second sliding groove 131 to adjust the distance between the four clamping mechanisms 20, so that the four clamping mechanisms 20 can clamp workpieces with different sizes. The base 211 is a hollow block and may be made of metal.

The flexible finger 22 is mounted on the base 211, the flexible finger 22 may be made of rubber or silica gel, and the two opposite sides of the flexible finger 22 have different bending ratios. In this embodiment, the two opposite sides of the flexible finger 22 have different shapes so that the two opposite sides have different bending ratios, wherein one side is flat and the other side is wavy, as shown in fig. 3. In other embodiments, the two opposing sides of the flexible finger 22 are made of different materials so that the two opposing sides have different bending rates, wherein one side is harder and the other side is softer. An air bag 221 is arranged inside the flexible finger 22, and the flexible finger 22 can be bent or restored by inflating and deflating the air bag 221, so that the workpiece can be clamped or released. The air inlet pipe 23 is communicated with the air bag 221 and is used for inflating and deflating the air bag 221 so as to drive the flexible finger 22 to bend or recover.

The clamping mechanism 20 further includes a clamping portion 24, the clamping portion 24 surrounds the air inlet pipe 23 and is connected to the sliding portion 212, and the clamping portion 24 is inserted into the clamping groove 123 and the first sliding groove 114 respectively and is located at an intersection of the clamping groove 123 and the first sliding groove 114.

The process of adjusting the distance between the four gripping mechanisms 20 will be briefly described below:

when the knob 14 is rotated, the gear portion 141 of the knob 14 can rotate in the mounting groove 112, and the gear portion 141 and the annular tooth groove 121 are engaged with each other, so that the knob 14 can drive the rotary disc 12 to rotate relative to the chassis 13. Meanwhile, the clamping groove 123 also rotates relative to the second sliding groove 131, and pushes the clamping portion 24 to slide along the second sliding groove 131, so as to synchronously adjust the distances from the centers of the four clamping mechanisms 20, and thus the four clamping mechanisms 20 can clamp workpieces with different sizes. Because the four clamping mechanisms 20 are driven by the rotary table 12 to slide along the second sliding groove 131, the sliding distances of the four clamping mechanisms 20 are always equal, so that the distances from the four clamping mechanisms 20 to the center are always equal, the clamping forces exerted on the workpiece by the four clamping mechanisms 20 are ensured to be equal, and the pneumatic clamping jaw 100 can also apply uniform force to the workpiece, so that the workpiece is prevented from being turned over due to uneven force application in the process of clamping the workpiece.

Another embodiment of the present invention provides a robot (not shown) comprising a table, a robot arm and a pneumatic gripper 100 as described above. The workbench is provided with the mechanical arm, and the pneumatic clamping jaw 100 is arranged at the tail end of the mechanical arm.

The workbench is provided with a target, and the target is used for being captured by a distance measuring sensor of the pneumatic clamping jaw 100 and identified by a computer so as to obtain the current height of the pneumatic clamping jaw 100.

Compared with the prior art, the embodiment of the utility model provides an among the pneumatic clamping jaw and the manipulator that has this pneumatic clamping jaw, it is rotatory for chassis 13 through rotatory knob 14 in order to take carousel 12 to, and then make draw-in groove 123 for second sliding tray 131 rotates, and promotes fixture 20 is followed second sliding tray 131 slides, and then adjusts four distance between fixture 20, so that four fixture 20 can centre gripping not unidimensional work piece.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments can be combined, steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. A pneumatic clamping jaw, comprising:

2. The pneumatic clamping jaw as claimed in claim 1, wherein one end of the knob is provided with a gear portion, one surface of the rotary disc facing the bracket is provided with a circular ring-shaped tooth socket, the gear portion and the circular ring-shaped tooth socket are meshed with each other, and the rotary disc can be driven to rotate relative to the bracket and the chassis by rotating the knob.

3. The pneumatic jaw according to claim 2, wherein said support is provided with a first sliding groove, said base is provided with a second sliding groove, said turntable is provided with a catch groove, said first and second sliding grooves are aligned in a rotation direction of said turntable, said catch groove and second sliding groove intersect each other, one end of said gripping mechanism passes through said catch groove and said second sliding groove, respectively, and said gripping mechanism is slidable relative to said base along said second sliding groove.

4. The pneumatic jaw of claim 3, wherein said clamping mechanism includes a sliding seat, a flexible finger mounted to said sliding seat, and an air inlet tube mounted to said sliding seat and in communication with said flexible finger, said air inlet tube passing through said first sliding slot.

5. The pneumatic clamping jaw as claimed in claim 4, wherein said clamping mechanism further comprises a clamping portion surrounding said air inlet pipe and connected to said sliding seat, said clamping portion being inserted into said clamping groove and said first sliding groove respectively and located at the intersection of said clamping groove and said first sliding groove.

6. The pneumatic jaw of claim 5, wherein said sliding seat includes a base portion and a sliding portion, said sliding portion being mounted to said base portion, said sliding portion being nested within said second sliding groove and slidable along said second sliding groove; the flexible finger is mounted on the base part, and the clamping part is connected to the sliding part.

7. The pneumatic jaw according to claim 6, wherein said gripping means are four in number, four of said gripping means being distributed in a cross.

8. The pneumatic jaw of claim 3, wherein a surface of said support is recessed to form a recess, said recess is shaped to match said disk, said recess is closed by a surface of said base to form a receiving space when said support and said base are engaged with each other, and said disk is located in said receiving space and is rotatable relative to said support.

9. The pneumatic jaw of claim 8, wherein said bracket has a mounting slot disposed therein, said mounting slot being located on one side of said recess and communicating with said recess; a mounting hole is formed in one side wall of the mounting groove, the gear portion of the knob is located in the mounting groove, the other end of the knob penetrates through the mounting hole and is suspended outside the support, and the gear portion of the knob can rotate in the mounting groove.

10. A manipulator, characterized by comprising a pneumatic gripper according to any of claims 1 to 9.