CN216229451U - Pneumatic industrial robot tongs - Google Patents
Pneumatic industrial robot tongs Download PDFInfo
- Publication number
- CN216229451U CN216229451U CN202122837729.2U CN202122837729U CN216229451U CN 216229451 U CN216229451 U CN 216229451U CN 202122837729 U CN202122837729 U CN 202122837729U CN 216229451 U CN216229451 U CN 216229451U
- Authority
- CN
- China
- Prior art keywords
- sliding shaft
- placing groove
- base
- cylinder
- hole
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a pneumatic industrial robot gripper, which relates to the technical field of robot grippers and comprises a base, a clamping jaw, a cylinder and a sliding shaft, wherein the cylinder is fixedly connected with the base, a through hole is formed in the base, the sliding shaft is positioned in the through hole and connected with a cylinder rod of the cylinder, a placing groove is formed in the bottom hole wall of the through hole, a steel ball is placed in the placing groove, a wedge-shaped extrusion surface is arranged on one side, facing the placing groove, of the sliding shaft, three mounting holes are uniformly formed in the circumferential direction of the placing groove, a transmission pin is arranged in each mounting hole, one end, away from the placing groove, of each mounting hole is fixedly connected with a baffle, one end of each transmission pin abuts against the steel ball, the other end of each transmission pin penetrates through the baffle and is hinged with the top of the clamping jaw, a main body of the clamping jaw is hinged with the bottom of the base, a spring is sleeved on the transmission pin, one end of the spring abuts against a shaft shoulder of the transmission pin, the other end of the spring abuts against the baffle, and the spring is in a compressed state, the problem of robot tongs structure complicated, the size is great or manufacturing cost is higher among the prior art is solved.
Description
Technical Field
The utility model belongs to the technical field of robot grippers, and particularly provides a pneumatic industrial robot gripper.
Background
The industrial robot gripper is an end effector installed at the tail end of a robot, and most of the robot grippers on the current market are of complex connecting rod type structures, so that the overall size of the gripper is large. The fully-driven robot gripper has a simple structure, but the increase of the number of drivers naturally leads to the increase of the cost. Therefore, the utility model relates to a simple structure, the robot tongs that the price/performance ratio is high can save the manufacturing cost of enterprise to a certain extent.
Accordingly, there is a need in the art for a pneumatic industrial robot gripper that solves the above problems.
Disclosure of Invention
The utility model provides a pneumatic industrial robot gripper, which solves the problems of complex structure, large size or high production cost of the robot gripper in the prior art.
The technical scheme of the utility model is realized as follows: the pneumatic industrial robot gripper comprises a base, a clamping jaw and a driving device, wherein the driving device comprises an air cylinder and a sliding shaft, the air cylinder is fixedly connected with the base along the horizontal direction, a through hole is formed in the base along the extending direction of the air cylinder, the sliding shaft is positioned in the through hole and connected with an air cylinder rod of the air cylinder, a placing groove is formed in the bottom hole wall of the through hole, steel balls are placed in the placing groove, a wedge-shaped extrusion surface is arranged on one side, facing the placing groove, of the sliding shaft, three mounting holes are uniformly formed in the circumferential direction of the placing groove, the placing groove is communicated with the external environment through the mounting holes, a transmission pin is arranged in each mounting hole, a baffle is fixedly connected to one end, away from the placing groove, of each mounting hole, one end of the transmission pin abuts against the steel balls, and the other end of the transmission pin penetrates through the baffle and is hinged to the top of the clamping jaw, the main body of the clamping jaw is hinged to the bottom of the base, the transmission pin is sleeved with a spring, one end of the spring abuts against a shaft shoulder of the transmission pin, the other end of the spring abuts against the baffle, and when the steel ball abuts against the wedge-shaped extrusion surface, the spring is in a compressed state.
The technical effect of the scheme is as follows: the sliding shaft is driven by the cylinder to move in the through hole, the wedge-shaped extrusion surface at the bottom of the sliding shaft extrudes the steel balls to move towards the bottom of the placing groove, the steel balls extrude the transmission pin to move outwards along the mounting hole, and the transmission pin pushes the top of the clamping jaw to enable the bottom of the clamping jaw to move in the opposite direction, so that the effect of clamping a workpiece is achieved; the sliding shaft is driven by the cylinder to move in the opposite direction, a space is reserved for upward movement of the steel ball, the driving pin moves towards the inside of the placing groove along the mounting hole due to the elasticity of the spring, the steel ball is extruded by the driving pin to move upwards, the top of the clamping jaw is pulled by the driving pin, and the bottom of the clamping jaw moves in the opposite direction, so that the effect of opening the clamping jaw is achieved; the whole gripper is simple in structure, convenient to install and high in cost performance.
In the preferable technical scheme of the gripper for the pneumatic industrial robot, a cylinder rod of the cylinder is connected with the sliding shaft through a floating joint, a limit groove is formed in the top of the sliding shaft along the extending direction of the sliding shaft, a limit rod extending along the vertical direction is arranged on the top of the base, and the limit rod penetrates through the base and is inserted into the limit groove.
The technical effect of the scheme is as follows: the air cylinder rod is connected with the sliding shaft through the floating joint, so that the installation deviation between the air cylinder rod and the sliding shaft can be eliminated, and the normal operation of the air cylinder and the sliding shaft is protected; the limiting rod and the limiting groove act together to ensure that the sliding shaft can only move along the axial direction of the sliding shaft, so that the sliding shaft is prevented from deflecting during movement.
In the preferable technical scheme of the gripper for the pneumatic industrial robot, an extrusion groove is formed in one side, facing the placing groove, of the sliding shaft, and the wedge-shaped extrusion surface forms a top groove wall of the extrusion groove.
The technical effect of the scheme is as follows: through setting up the extrusion groove, avoid the steel ball to deviate from the standing groove, guarantee the in close contact between steel ball and the sliding shaft.
In the preferable technical scheme of the pneumatic industrial robot gripper, an oilless bushing is arranged between the transmission pin and the mounting hole, and a gasket is arranged between the spring and the oilless bushing.
The technical effect of the scheme is as follows: through setting up oil-free bush, reduce the frictional force between drive pin and the mounting hole, the protection drive pin improves the life of drive pin, reduces the maintenance frequency.
In the preferable technical scheme of the gripper for the pneumatic industrial robot, a supporting plate is installed at the bottom of the base, and the main body of the clamping jaw is hinged with the supporting plate.
The technical effect of the scheme is as follows: the backup pad sets up the installation that provides the position for the clamping jaw, makes the activity of clamping jaw have bigger space, avoids the clamping jaw direct with the base installation to lead to the phenomenon that the base influences the clamping jaw activity.
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, and 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 perspective view of a gripper of a pneumatic industrial robot according to the utility model;
fig. 2 is a front view of a gripper of a pneumatic industrial robot according to the utility model;
fig. 3 is a top view of a gripper of a pneumatic industrial robot according to the utility model;
fig. 4 is a cross-sectional view of the pneumatic industrial robot gripper of the present invention in an unclamped state;
fig. 5 is a cross-sectional view of the pneumatic industrial robot in a grip state of the gripper according to the present invention.
List of reference numerals: 1. a cylinder; 2. a floating joint; 3. a base; 4. a limiting rod; 5. a sliding shaft; 6. steel balls; 7. a large oilless liner; 8. a drive pin; 9. a spring; 10. a gasket; 11. a small oilless bushing; 12. a baffle plate; 13. a clamping jaw; 14. a support plate; 15. and (5) a workpiece.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating the directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The utility model discloses a specific embodiment of a gripper of a pneumatic industrial robot, which comprises the following steps: as shown in fig. 1 to 5, the pneumatic industrial robot gripper comprises a base 3, a clamping jaw 13 and a driving device, wherein the driving device comprises a cylinder 1 and a sliding shaft 5, the cylinder 1 is arranged at the left side of the base 3, and is fixedly connected with a base 3 along the horizontal direction, a through hole is arranged in the base 3 along the extending direction of the cylinder 1, a sliding shaft 5 is positioned in the through hole, and is connected with the cylinder 1 rod of the cylinder 1 through the floating joint 2, eliminates the installation deviation between the cylinder 1 rod and the sliding shaft 5, ensures the normal operation of the cylinder 1 and the sliding shaft 5, the top of the sliding shaft 5 is provided with a limit groove along the extending direction, the top of the base 3 is provided with a limit rod 4 extending along the vertical direction, the limit rod 4 penetrates through the base 3 and is inserted in the limit groove, the rotation of the sliding shaft 5 is limited, so that the sliding shaft 5 can only move along the circumferential direction of the sliding shaft, and the sliding shaft 5 is prevented from deflecting during movement.
The standing groove has been seted up to the bottom pore wall of through-hole, has placed steel ball 6 in the standing groove, and the top of base 3 is seted up and is placed the corresponding hole in groove position, and steel ball 6 is placed into to the standing groove from this hole in, and sliding shaft 5 is provided with the extrusion groove towards one side of standing groove, and the top cell wall of extrusion groove is the wedge extrusion face, and the wedge extrusion face is gradually tilt up from left to right, and the right side of extrusion groove is the arc cell wall.
Three mounting holes which extend obliquely downwards are uniformly arranged in the circumferential direction of the placing groove and communicate the placing groove with the external environment, and a transmission pin 8 is arranged in the mounting hole, the transmission pin 8 comprises a larger diameter section and a smaller diameter section, the joint of the larger diameter section and the smaller diameter section is a shaft shoulder, one end of the mounting hole deviating from the placing groove is fixedly connected with a baffle 12, the tail end of the larger diameter section of the transmission pin 8 is positioned in the placing groove and is abutted against the steel ball 6, the tail end of the smaller diameter section penetrates through the baffle 12 and is exposed in the external environment, a large oilless lining 7 is arranged between the larger diameter section of the transmission pin 8 and the mounting hole, a small oilless lining 11 is arranged between the smaller diameter section and the mounting hole, and the outside cover of less diameter section is equipped with spring 9, is provided with gasket 10 between spring 9 and little oilless bush 11, and spring 9's one end is supported and is leaned on in the shaft shoulder, and the other end supports and leans on in gasket 10.
The clamping jaw 13 comprises a main body part and a jaw body part, a supporting plate 14 is installed at the bottom of the base 3, the edge of the supporting plate 14 extends out of the base 3, the main body part of the clamping jaw 13 is hinged with the supporting plate 14, and the top of the main body part is hinged with one end, exposed outside, of the transmission pin 8.
The specific working process of the gripper of the pneumatic industrial robot is as follows: when the cylinder 1 contracts, the sliding shaft 5 is located at the leftmost position, the spring 9 pushes the transmission pin 8 to move upwards along the mounting hole, the transmission pin 8 pulls the top of the clamping jaw 13 to move towards the direction close to the base 3, so that the bottom of the clamping jaw 13 moves outwards, the clamping jaw 13 is opened, and at the moment, the steel ball 6 is pushed into one side, close to the arc-shaped groove wall, of the extrusion groove below the sliding shaft 5 by the transmission pin 8; when a workpiece 15 needs to be clamped, the cylinder 1 extends out to push the sliding shaft 5 to move rightwards along the through hole, the steel ball 6 is pressed downwards by the wedge-shaped extrusion surface at the top of the extrusion groove, the transmission pin 8 is ejected out obliquely downwards by the steel ball 6, the transmission pin 8 pushes the top of the clamping jaw 13 to move towards the direction far away from the base 3, so that the bottom of the clamping jaw 13 is moved inwards, and the workpiece 15 is clamped.
The pneumatic industrial robot gripper is simple in structure, convenient to install and high in cost performance.
In the above embodiments, the cylinder rod of the cylinder is connected to the sliding shaft through a floating joint, and in other embodiments, the cylinder rod of the cylinder is directly connected to the sliding shaft.
In the above embodiments, the side of the sliding shaft close to the placing groove is provided with the extrusion groove, in other embodiments, the side of the sliding shaft close to the placing groove is only provided with the wedge-shaped extrusion surface, and when the steel ball is jacked up by the delivery pin, the maximum diameter of the steel ball is located in the placing groove.
In the above embodiments, the bottom of the base is provided with the supporting plate, the edge of the supporting plate extends out of the base, and the clamping jaw is hinged to the supporting plate.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The pneumatic industrial robot gripper is characterized by comprising a base, a clamping jaw and a driving device, wherein the driving device comprises a cylinder and a sliding shaft, the cylinder is fixedly connected with the base along the horizontal direction, a through hole is formed in the base along the extending direction of the cylinder, the sliding shaft is positioned in the through hole and connected with a cylinder rod of the cylinder, a placing groove is formed in the bottom hole wall of the through hole, steel balls are placed in the placing groove, a wedge-shaped extrusion surface is arranged on one side of the sliding shaft facing the placing groove, three mounting holes are uniformly formed in the circumferential direction of the placing groove, the placing groove is communicated with the external environment through the mounting holes, a driving pin is mounted in each mounting hole, a baffle is fixedly connected to one end of each mounting hole, which is far away from the placing groove, one end of each driving pin abuts against the steel balls, and the other end of each driving pin penetrates through the baffle and is hinged to the top of the clamping jaw, the main body of the clamping jaw is hinged to the bottom of the base, the transmission pin is sleeved with a spring, one end of the spring abuts against a shaft shoulder of the transmission pin, the other end of the spring abuts against the baffle, and when the steel ball abuts against the wedge-shaped extrusion surface, the spring is in a compressed state.
2. The pneumatic industrial robot gripper as claimed in claim 1, wherein a cylinder rod of the cylinder is connected with the sliding shaft through a floating joint, a limiting groove is formed in the top of the sliding shaft along the extending direction of the sliding shaft, a limiting rod extending in the vertical direction is arranged on the top of the base, and the limiting rod penetrates through the base and is inserted into the limiting groove.
3. The pneumatic industrial robot gripper as claimed in claim 2, characterized in that the sliding shaft is provided with a pressing groove on the side facing the placing groove, and the wedge-shaped pressing surface forms the top groove wall of the pressing groove.
4. A pneumatic industrial robot gripper according to claim 3, characterised in that an oilless bushing is provided between the driving pin and the mounting hole, and a gasket is provided between the spring and the oilless bushing.
5. A pneumatic industrial robot gripper according to claim 4, characterised in that a support plate is mounted to the base and the body of the gripper is hingedly connected to the support plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122837729.2U CN216229451U (en) | 2021-11-19 | 2021-11-19 | Pneumatic industrial robot tongs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122837729.2U CN216229451U (en) | 2021-11-19 | 2021-11-19 | Pneumatic industrial robot tongs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216229451U true CN216229451U (en) | 2022-04-08 |
Family
ID=80947039
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122837729.2U Active CN216229451U (en) | 2021-11-19 | 2021-11-19 | Pneumatic industrial robot tongs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216229451U (en) |
-
2021
- 2021-11-19 CN CN202122837729.2U patent/CN216229451U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN216229451U (en) | Pneumatic industrial robot tongs | |
| CN113798840A (en) | Screw assembling and disassembling clamp suitable for mechanical arm | |
| CN113829375A (en) | Pneumatic industrial robot tongs | |
| CN107538253B (en) | Push type translational clamp and use method thereof | |
| CN109365670A (en) | A kind of lower die holder with device for discharging | |
| CN215358486U (en) | Pneumatic chuck mechanism | |
| CN218698931U (en) | Industrial robot terminal detachable mechanism | |
| CN114083266A (en) | Automatic production equipment for oil smoke lamp | |
| CN117583863A (en) | Nut fastening manipulator | |
| CN112591459A (en) | Automatic material distributing suction head device and material sticking equipment | |
| CN112548994A (en) | Industrial robot connects base convenient to installation | |
| CN220956271U (en) | Olecranon lever oil hydraulic cylinder | |
| CN210434882U (en) | Unloader is used in assembly of brake alarm plug | |
| CN220029091U (en) | Explosion-proof piece displacement mechanism | |
| CN213470949U (en) | Motor casing hydraulically operated fixture | |
| CN210551195U (en) | Installing support of four-axis arm | |
| CN113319605B (en) | A frock clamp for casing terminal surface processing | |
| CN213044060U (en) | Mechanical suction nozzle for chip mounting | |
| CN219746950U (en) | Pressing mechanism and processing equipment | |
| CN217572929U (en) | Piston automated production is with stable jack catch of centre gripping | |
| CN219351490U (en) | Wire clamping mechanism applied to stator flat wire | |
| CN215316885U (en) | Heavy door hinge mould | |
| CN218510058U (en) | Double-piston air spring | |
| CN212151452U (en) | Bottom lifting jack and hydraulic support | |
| CN219669727U (en) | Automatic cutting mechanism for double-sided adhesive tape |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |