CN218875494U - Pneumatic servo robot gripper - Google Patents

Abstract

The utility model discloses a pneumatic servo robot tongs of gas relates to the robot field, the utility model discloses a shell, the both sides of shell all are provided with the end cover, and the inside of shell is provided with the gas path piece, and the inside top and the inside below of shell all are provided with the slide rail, and the inside both sides of shell are provided with left cylinder and right cylinder respectively, the utility model discloses a whole position sensor real time feedback cylinder motion's position and feed back to upper end PLC (sensor output analog quantity signal, show cylinder real-time position), analog quantity signal can indicate the PLC system to reach the settlement position when the cylinder reachs the real-time settlement position, and PLC output signal stops that the cylinder is admitted air and exhausts this moment, reaches the balance and pauses promptly, can reach position control and clamp force control's mesh, and such design makes the terminal tongs structure of robot whole compact high-efficient, has greatly saved the space.

Description

Pneumatic servo robot gripper

Technical Field

The utility model relates to a robot field specifically is a pneumatic servo robot tongs of gas.

Background

A clamping jaw is a device for clamping a workpiece, which is used at various positions in life, and the workpiece is usually pulled and lifted by the clamping jaw, wherein a parallel opening and closing cylinder pneumatic clamping jaw is one of clamping jaw devices, and the clamping jaw device clamps the workpiece by horizontally moving a clamping part.

The conventional robot pneumatic gripper is driven by compressed air, can only grab in place according to the size of a workpiece, cannot accurately and flexibly position and grab, and the conventional robot pneumatic gripper needs to be additionally provided with a motor, a reduction gearbox and other transmission mechanisms due to the driving mode, so that the structural design is huge and the price is high.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model aims at providing a pneumatic robot tongs of air servo to solve the pneumatic tongs of conventional robot and adopt compressed air drive, can only target in place according to the size of work piece and snatch, can't carry out the technical problem that the location snatched in the flexibility accurately.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a pneumatic robot tongs of gas servo, includes the shell, the both sides of shell all are provided with the end cover, the inside of shell is provided with the gas circuit piece, the inside top and the inside below of shell all are provided with the slide rail, the inside both sides of shell are provided with left cylinder and right cylinder respectively, the inside of left side cylinder and right cylinder all is provided with the piston, the piston rod is installed to one side of piston, just the one end of piston rod is connected with the gas circuit piece, the inside of piston rod is provided with first gas circuit and second gas circuit respectively, the inside of gas circuit piece is provided with first breather pipe and second breather pipe respectively, the back of left side cylinder and right cylinder is fixed with the ratch, the gear is installed at the back of gas circuit piece, one side of left side cylinder is connected with whole position inductor through the connecting rod.

Furthermore, a cover plate is arranged in the middle of the outer surface of the shell, and the area of the cover plate is smaller than the surface area of the shell.

Through adopting above-mentioned technical scheme, the apron plays the waterproof purpose of dust-proof, and can also increase the intensity of shell.

Furthermore, the top and the bottom of left cylinder and right cylinder all with slide rail sliding fit.

Through adopting above-mentioned technical scheme, left side cylinder and right cylinder pass through the cooperation of slide rail for it is more smooth and easy to remove.

Furthermore, the air outlet of the first air passage is located on one side of the piston, the air outlet of the second air passage is located on the other side of the piston, the air inlet end of the first air passage is communicated with the first vent pipe, and the air inlet end of the second air passage is communicated with the second vent pipe.

Through adopting above-mentioned technical scheme, the air enters into first gas circuit injection air through first breather pipe, and the air passes through first gas circuit and then reaches the inside one side of cylinder to this makes the air pressure increase of the inside one side of cylinder, thereby makes the cylinder remove to the gas circuit piece direction, and the air of the inside opposite side of cylinder then is compressed, and the compressed air passes through second gas circuit and second breather pipe and discharges.

Furthermore, the gear rods are provided with two groups, the two groups of gear rods are meshed with the gear, and lubricating oil is coated on the outer surface of the gear.

Through adopting above-mentioned technical scheme, the rack bar can make the gear shift along with the cylinder removes the time, and the gear shift promotes the rack bar again and drives about the cylinder motion, and then the ascending effort of reinforcing cylinder motion direction.

To sum up, the utility model discloses mainly have following beneficial effect:

the utility model discloses a whole position sensor real time feedback cylinder motion's position and feed back to upper end PLC (sensor output analog quantity signal, show the real-time position of cylinder), the analog quantity signal can indicate the PLC system to arrive and set for the position when the cylinder reachs the real-time settlement position, PLC output signal stops that the cylinder admits air and exhausts this moment, it pauses promptly to reach position balance, can reach position control and clamp force control's purpose, such design makes the terminal tongs structure of robot whole compact high-efficient, greatly save the space, and saved the motor, the reducing gear box, expensive electrical component such as controller, the cost can greatly be reduced.

Drawings

Fig. 1 is a schematic view of the outer surface structure of the present invention;

FIG. 2 is a schematic view of the sectional structure of the housing of the present invention;

FIG. 3 is a schematic view of the shell of the present invention;

FIG. 4 is a schematic view of the cross-sectional structure of the left cylinder of the present invention;

FIG. 5 is a schematic sectional view of the gas circuit block of the present invention;

FIG. 6 is a schematic structural view of the air channel block of the present invention;

fig. 7 is a schematic view of the piston rod structure of the present invention.

In the figure: 1. a housing; 2. an end cap; 3. a left cylinder barrel; 4. a right cylinder barrel; 5. a cover plate; 6. a rack bar; 7. a piston rod; 8. an air passage block; 9. a gear; 10. a connecting rod; 11. a full-course position sensor; 12. a piston; 13. a first gas path; 14. a second gas path; 15. a first vent pipe; 16. a second vent pipe; 17. a slide rail.

Detailed Description

The technical solution 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. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

Next, an embodiment of the present invention will be described with reference to the overall structure thereof.

The utility model provides a pneumatic robot tongs of pneumatic servo, as shown in fig. 1-7, including shell 1, the both sides of shell 1 all are provided with end cover 2, install apron 5 in the middle of the surface of shell 1, and the area of apron 5 is less than the surface area of shell 1, apron 5 plays the waterproof purpose of dust-proof, and can increase the intensity of shell 1, the inside of shell 1 is provided with gas circuit piece 8, the inside top and the inside below of shell 1 all are provided with slide rail 17, the inside both sides of shell 1 are provided with left cylinder 3 and right cylinder 4 respectively, the inside of left cylinder 3 and right cylinder 4 all is provided with piston 12, piston rod 7 is installed to one side of piston 12, and the one end of piston rod 7 is connected with gas circuit piece 8, the inside of piston rod 7 is provided with first gas circuit 13 and second gas circuit 14 respectively, the inside of gas circuit piece 8 is provided with first gas circuit 15 and second gas passage 16 respectively, the back of left cylinder 3 and right cylinder 4 is fixed with toothed bar 6, gear 9 is installed at the back of gas circuit piece 8, toothed bar 6 is provided with two sets of gear, and two sets of gear 6 mesh mutually, the cylinder 6 can make the cylinder 3 promote the whole journey motion of left and right cylinder 3 and move the cylinder to pass through the response action force of the motion reinforcing, the cylinder 11 that the motion reinforcing rod that the gear moves the gear is connected with the gear, the gear.

Referring to fig. 2-3, the top and bottom of the left cylinder 3 and the right cylinder 4 are slidably engaged with the slide rail 17, and the left cylinder 3 and the right cylinder 4 are engaged with the slide rail 17 to move more smoothly.

Referring to fig. 3-6, the air outlet of the first air passage 13 is located at one side of the piston 12, the air outlet of the second air passage 14 is located at the other side of the piston 12, the air inlet of the first air passage 13 is communicated with the first vent pipe 15, the air inlet of the second air passage 14 is communicated with the second vent pipe 16, the air enters the first air passage 13 through the first vent pipe 15 and is injected into the first air passage 13, and the air further reaches one side of the inside of the cylinder through the first air passage 13, so that the air pressure at one side of the inside of the cylinder is increased, the cylinder moves towards the air passage block 8, the air at the other side of the inside of the cylinder is compressed, and the compressed air is discharged through the second air passage 14 and the second vent pipe 16.

The working principle is as follows: firstly, a worker installs two groups of grippers on a left cylinder barrel 3 and a right cylinder barrel 4 respectively; a worker inflates air into the first air passage 13 through the first air pipe 15, air enters the cylinder barrel from an air outlet of the first air passage 13, so that air pressure on one side inside the cylinder barrel is increased, the left cylinder barrel 3 and the right cylinder barrel 4 are enabled to move towards the air passage block 8, when the cylinder barrel moves, air on the other side inside the cylinder barrel is extruded, the air is discharged through the second air passage 14 and the second air pipe 16, synchronous centering motion of the left cylinder barrel 3 and the right cylinder barrel 4 is achieved, when the left cylinder barrel and the right cylinder barrel synchronously center, the two groups of toothed bars 6 are driven to center, so that the gear 9 rotates, the toothed bars 6 are driven to move left and right through rotation of the gear 9, acting force in the motion direction of the gear 9 is enhanced, operation of the cylinder barrel is enabled to be more labor-saving and smooth, and the purpose of clamping articles is achieved; when the cylinder barrel moves, the connecting rod 10 drives the full-range position sensor 11 to move, the full-range position sensor 11 feeds back the moving position of the cylinder barrel in real time and feeds back the moving position of the cylinder barrel to the PLC sensor at the upper end to output an analog quantity signal, the real-time position of the cylinder barrel is displayed, when the cylinder barrel reaches the real-time set position, the analog quantity signal prompts the PLC system to reach the set position, the PLC outputs a signal to stop air inlet and exhaust of the cylinder barrel at the moment, and when the position is balanced, the PLC stops; when the clamping article needs to be put down, a worker inflates the second vent pipe 16, the first vent pipe 15 is used for exhausting, the left cylinder barrel and the right cylinder barrel move back to back at the moment, the two grippers can be separated, and then the article can be loosened.

Although embodiments of the present invention have been shown and described, it is intended that the present embodiments be illustrative only and not limiting to the invention, and that the particular features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples, and that modifications, substitutions, variations, and the like, which are not inventive in light of the above teachings, may be made to the embodiments by those skilled in the art without departing from the principles and spirit of the present invention, but are to be construed as broadly as the following claims.

Claims (5)

1. The utility model provides a pneumatic robot tongs is served to gas, includes shell (1), its characterized in that: the both sides of shell (1) all are provided with end cover (2), the inside of shell (1) is provided with gas circuit piece (8), the inside top and the inside below of shell (1) all are provided with slide rail (17), the inside both sides of shell (1) are provided with left cylinder (3) and right cylinder (4) respectively, the inside of left side cylinder (3) and right cylinder (4) all is provided with piston (12), piston rod (7) are installed to one side of piston (12), just the one end of piston rod (7) is connected with gas circuit piece (8), the inside of piston rod (7) is provided with first gas circuit (13) and second gas circuit (14) respectively, the inside of gas circuit piece (8) is provided with first breather pipe (15) and second breather pipe (16) respectively, the back of left side cylinder (3) and right cylinder (4) is fixed with toothed bar (6), gear (9) are installed at the back of gas circuit piece (8), one side of left side cylinder (3) is connected with whole position inductor (11) through connecting rod (10).

2. The air servo pneumatic robot gripper of claim 1, wherein: the middle of the outer surface of the shell (1) is provided with a cover plate (5), and the area of the cover plate (5) is smaller than the surface area of the shell (1).

3. The air servo pneumatic robot gripper of claim 1, wherein: the top and the bottom of the left cylinder barrel (3) and the right cylinder barrel (4) are in sliding fit with the sliding rail (17).

4. The air servo pneumatic robot gripper of claim 1, wherein: the air outlet of the first air passage (13) is located on one side of the piston (12), the air outlet of the second air passage (14) is located on the other side of the piston (12), the air inlet end of the first air passage (13) is communicated with the first vent pipe (15), and the air inlet end of the second air passage (14) is communicated with the second vent pipe (16).

5. The air servo pneumatic robot gripper of claim 1, wherein: the gear rack is characterized in that two groups of gear racks (6) are arranged, the two groups of gear racks (6) are meshed with the gear (9), and lubricating oil is coated on the outer surface of the gear (9).

Images