CN220516853U - Pneumatic clamping jaw equipment and robot - Google Patents

Abstract

The application discloses pneumatic clamping jaw equipment, robot. The pneumatic clamping jaw device comprises a power supply device, a clamping device and a transition device, wherein the power supply device is used for providing power required by the device; the transition device is used for transmitting force, converting the force in the first direction provided by the power supply device into the force in the second direction, and further controlling the clamping device to move in the second direction so as to clamp or release the target object; in the working state, the air source supply assembly supplies air, the piston mechanism and the axial transmission mechanism are pushed to move away from the bottom of the cavity cylinder barrel, the transition piece is driven to move outwards, and the clamping piece is further pushed to move outwards through the second clamping part, so that an opening claw area is formed, and a target object can be supported, or the target object can be loosened; the device has the advantages of simple structure, novel structure, high bearing capacity and quick response, and can be widely applied to production line execution systems for grabbing, carrying, transmitting and the like of target objects in the industries of textile, chemical industry, food, medicine, logistics and the like.

Description

Pneumatic clamping jaw equipment and robot

Technical Field

The disclosure relates to the technical field of industrial clamps, in particular to pneumatic clamping jaw equipment and a robot.

Background

With the development of industrial automation, an industrial clamping device becomes one of the indispensable devices on a production line. However, the industrial clamping devices currently disclosed are generally composed of a plurality of transmission devices and control members, which makes their mechanical structure quite complex, the complex structure increasing the difficulty of manufacturing and maintenance of the device and the probability of possible failure.

In addition, most of the clamping devices disclosed in the prior art are grabbing, namely the clamping of the target object is realized through the action of the furling of the clamping jaw on the outer wall of the target object, the effective clamping stroke is short, the clamping force is small, and the abrasion to the clamping jaw is large; for some, such as spindle transportation in textile industry, the small clamping force can cause the deviation of the position of the object during clamping transportation, even drop, and the large clamping force can cause damage to the yarn outside the spindle, thereby affecting the quality and cost of the product.

Disclosure of Invention

In view of the above, the embodiments of the present disclosure provide a pneumatic clamping jaw device and a robot, which at least partially solve the problems of complex structure, small clamping force, slow response, easy abrasion of the clamping jaw, damage to the product, and the like in the prior art.

In a first aspect, embodiments of the present disclosure provide a pneumatic clamping jaw apparatus comprising:

the power supply device comprises a cylinder mechanism, a piston mechanism and an axial transmission mechanism; the cylinder mechanism comprises a cavity cylinder barrel, a top cover and a gas source supply assembly, wherein the top cover is arranged at the opening end of the cavity cylinder barrel, and N mounting grooves are formed in the top cover; the piston mechanism is arranged in the chamber cylinder barrel, and a sealed chamber for containing an air source is formed by one side, away from the top cover, of the piston mechanism and the chamber cylinder barrel; n clamping grooves are formed in the side part of the axial transmission mechanism; one end of the axial transmission mechanism is connected with the piston mechanism, and the other end of the axial transmission mechanism penetrates through the top cover and is arranged in a cantilever manner; n is more than or equal to 3;

the clamping device comprises an air jaw tray and N groups of jaw clamp mechanisms, and the air jaw tray is connected with the top cover; the gas claw tray is provided with N containing grooves which are respectively matched with N groups of claw forceps mechanisms; the claw forceps mechanism comprises a clamping piece and a guiding mechanism, the guiding mechanism is connected with the air claw tray, and the clamping piece is arranged on the guiding mechanism and has a moving degree of freedom along the guiding mechanism; a guide groove parallel to the longitudinal axis of the guide mechanism is formed in the first side of the clamping piece;

the transition device comprises N groups of cam mechanisms which are matched with the N groups of claw mechanisms; the cam mechanism comprises a fulcrum and a transition piece, and the fulcrum is arranged in the mounting groove; the transition piece having a degree of rotational freedom about the fulcrum; the transition piece is provided with a first clamping part and a second clamping part, the first clamping part is clamped with the clamping groove, and the second clamping part is clamped with the guide groove.

Optionally, the chamber cylinder is provided with an opening chamber, the side wall of the opening chamber is provided with an air inlet and an air outlet, and the air inlet and the air outlet are both connected with the air source supply assembly;

the top cover is provided with a first central through hole, and the N mounting grooves are uniformly formed in the periphery of the first central through hole; the piston mechanism is a piston disc, and a second center through hole is formed in the piston disc;

the axial transmission mechanism is a plunger rod, one end of the plunger rod penetrates through the second central through hole, and the other end penetrates through the first central through hole in a overhanging mode.

Optionally, the plunger rod comprises a first shaft section, a second shaft section, a third shaft section and a fourth shaft section which are sequentially arranged;

the outer diameter of the second shaft section is larger than the outer diameter of the first shaft section;

the outer diameter of the third shaft section is smaller than the outer diameter of the second shaft section;

the outer diameter of the fourth shaft section is larger than the outer diameter of the third shaft section;

the N clamping grooves are communicated and arranged to form an annular groove, and the annular groove is a clamping area formed by the second shaft section, the third shaft section and the fourth shaft section.

Optionally, the first central through hole comprises a first hole section and a second hole section, and the inner diameter of the second hole section is larger than that of the first hole section;

the inner diameter of the first hole section is larger than the outer diameter of the first shaft section, and the inner diameter of the first hole section is smaller than the outer diameter of the second shaft section;

the inner diameter of the second hole section is larger than the outer diameters of the second shaft section and the fourth shaft section;

the free end of the first clamping part is suspended into the second hole section.

Optionally, the gas claw tray is arranged at the outer side of the top cover and is fixedly connected with the top cover;

the guide mechanism comprises two guide blocks, and the two guide blocks are fixedly connected with the accommodating groove;

the clamping piece comprises an installation part and an action part, the guide groove is formed in a first side of the installation part, the action part is located on a second side of the installation part, and the second side is opposite to the first side;

the third side and the fourth side of the installation part are respectively provided with a guide side groove, the guide side grooves on two sides are respectively matched with the two guide blocks, and the third side is the adjacent side of the first side and is opposite to the fourth side.

Optionally, the acting part and the mounting part are integrally formed, or the acting part and the mounting part are connected through a connecting piece;

the clamping areas of the N groups of the action parts are positioned in the same fitting circle;

the action part is a single-rod claw, N groups of single-rod claws form an external supporting type clamping area, or N groups of single-rod claws form an external clamping type clamping area.

Optionally, the transition piece is provided with a rotation hole, and the fulcrum shaft is arranged through the rotation hole;

the second clamping part protrudes out of the mounting groove;

in a first state, the axial transmission mechanism is driven by the air source supply assembly to move away from the cavity cylinder barrel, the first clamping part drives the transition piece to rotate outwards, the second clamping part pushes the clamping piece to move outwards, N groups of clamping pieces form an outer supporting type clamping area, or N groups of clamping pieces form a loosening state;

under the second state, the axial transmission mechanism is driven by the air source supply assembly to move away from the air jaw tray, the first clamping part drives the transition piece to rotate inwards, the second clamping part drives the clamping piece to move inwards, the N groups of clamping pieces form an outer clamping type clamping area, or the N groups of clamping pieces form a loosening state.

Optionally, the device further comprises a magnetic induction device and a fastening screw, wherein the magnetic induction device comprises a ring support and a magnetic ring arranged on the ring support;

the ring support is arranged at the end part of the first shaft section;

the ring support is provided with a through hole, and the inner diameter of the through hole is smaller than that of the second central through hole;

the free end of the first shaft section is provided with a connecting shaft section, and the connecting shaft section is provided with a threaded inner hole;

the free end of the connecting shaft section penetrates through the second central through hole, and the fastening screw penetrates through the through hole and is fixedly connected with the threaded inner hole.

Optionally, the pneumatic clamping jaw device further comprises a dust-proof device;

a yielding hole is formed in the center of the air claw tray, and the yielding hole does not interfere with the axial transmission mechanism and the claw forceps mechanism;

the dustproof device can be installed in the abdication hole in an opening and closing mode.

In a second aspect, the application discloses a robot comprising a multi-degree-of-freedom mechanical arm and the pneumatic clamping jaw device;

the pneumatic clamping jaw device is arranged at the tail end of the multi-degree-of-freedom mechanical arm;

the pneumatic clamping jaw device can drive the target object to move according to a preset path under the drive of the multi-degree-of-freedom mechanical arm;

the preset path comprises one or more of translation, rotation and lifting.

According to the pneumatic clamping jaw device disclosed by the application, air is supplied through the air supply assembly, the piston mechanism and the axial transmission mechanism are pushed to move towards the bottom far away from the cavity cylinder barrel, the transition piece is driven to move outwards, and then the clamping piece is pushed to move outwards through the second clamping part, so that an opening jaw area is formed, a target object can be supported, or the target object is loosened; the scheme disclosed by the application is simple in structure, novel in structure, high in bearing capacity and quick in response, can adapt to the clamping of products with different demands, cannot damage the products, and can be widely applied to production line execution systems such as grabbing, carrying and transmitting of target objects in the industries such as textile, chemical industry, food, medicine and logistics.

The foregoing description is only an overview of the disclosed technology, and may be implemented in accordance with the disclosure of the present disclosure, so that the above-mentioned and other objects, features and advantages of the present disclosure can be more clearly understood, and the following detailed description of the preferred embodiments is given with reference to the accompanying drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.

Fig. 1 is a cross-sectional view of a pneumatic jaw apparatus of the present application.

Fig. 2 is an exploded schematic view of the pneumatic clamping jaw apparatus of the present application.

Fig. 3 is a schematic cross-sectional view of the plunger rod of fig. 1.

Fig. 4 is a schematic cross-sectional view of the top cover of fig. 1.

Fig. 5 is a schematic view of a jaw mechanism in a pneumatic jaw apparatus.

Fig. 6 is a schematic view of a cam mechanism in a pneumatic jaw apparatus.

Reference numerals illustrate:

1. a gas claw tray; 2. a top cover; 210. a first bore section; 220. a second bore section; 230. a first inner ring groove; 240. a first outer ring groove; 3. a chamber cylinder; 4. a plunger rod; 41. a first shaft section; 42. a second shaft section; 43. a third shaft section; 44. a fourth shaft section; 5. a piston disc; 6. a ring support; 7. a dust cover; 8. a clamping member; 9. a transition piece; 91. a first engagement portion; 92. a second engaging portion; 10. a guide mechanism; 11. a first cushion pad; 12. a second cushion pad; 13. a support shaft; 14. a first inner seal ring; 15. a first outer seal ring; 16. a second inner seal ring; 17. a second outer seal ring; 18. a dust cover set screw; 19. a fastening screw; 20. a magnetic ring; 21. a flat pad; 22. a positioning pin; 23. a top cap set screw; 24. the grasper tightens the screw.

Detailed Description

The present disclosure is described in further detail below with reference to the drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant content and not limiting of the present disclosure. It should be further noted that, for convenience of description, only a portion relevant to the present disclosure is shown in the drawings.

In addition, embodiments of the present disclosure and features of the embodiments may be combined with each other without conflict. The technical aspects of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Unless otherwise indicated, the exemplary implementations/embodiments shown are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Thus, unless otherwise indicated, features of the various implementations/embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concepts of the present disclosure.

The use of cross-hatching and/or shading in the drawings is typically used to clarify the boundaries between adjacent components. As such, the presence or absence of cross-hatching or shading does not convey or represent any preference or requirement for a particular material, material property, dimension, proportion, commonality between illustrated components, and/or any other characteristic, attribute, property, etc. of a component, unless indicated. In addition, in the drawings, the size and relative sizes of elements may be exaggerated for clarity and/or descriptive purposes. While the exemplary embodiments may be variously implemented, the specific process sequences may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in reverse order from that described. Moreover, like reference numerals designate like parts.

When an element is referred to as being "on" or "over", "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to," or "directly coupled to" another element, there are no intervening elements present. For this reason, the term "connected" may refer to physical connections, electrical connections, and the like, with or without intermediate components.

For descriptive purposes, the present disclosure may use spatially relative terms such as "under … …," under … …, "" under … …, "" lower, "" above … …, "" upper, "" above … …, "" higher "and" side (e.g., as in "sidewall"), etc., to describe one component's relationship to another (other) component as illustrated in the figures. In addition to the orientations depicted in the drawings, the spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture. For example, if the device in the figures is turned over, elements described as "under" or "beneath" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "below" … … can encompass both an orientation of "above" and "below". Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising," and variations thereof, are used in the present specification, the presence of stated features, integers, steps, operations, elements, components, and/or groups thereof is described, but the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximation terms and not as degree terms, and as such, are used to explain the inherent deviations of measured, calculated, and/or provided values that would be recognized by one of ordinary skill in the art.

With reference to fig. 1 and 2, a first aspect of the present application discloses a pneumatic jaw apparatus comprising a power supply means for providing the power required by the apparatus, a gripping means and a transition means; the transition device is used for transmitting force, converting the force in the first direction provided by the power supply device into the force in the second direction, and further controlling the clamping device to move in the second direction so as to clamp or release the target object.

The power supply device comprises a cylinder mechanism, a piston mechanism and an axial transmission mechanism; the cylinder mechanism comprises a chamber cylinder barrel 3, a top cover 2 and a gas source supply assembly, wherein the chamber cylinder barrel 3 is provided with an opening chamber, the side wall of the opening chamber is provided with a gas inlet and a gas outlet, both the gas inlet and the gas outlet are connected with the gas source supply assembly, and the gas source supply assembly is convenient to control power, and is simple, efficient and quick in response.

Specifically, in the working state, the air source supply assembly supplies air, the piston mechanism and the axial transmission mechanism are pushed to move away from the bottom of the chamber cylinder 3, the transition piece 9 is driven to move outwards, and then the clamping piece 8 is pushed to move outwards through the second clamping part 92, so that an open claw area is formed to support a target object, or the target object is loosened; the scheme disclosed by the application is simple in structure, novel in structure, high in bearing capacity and quick in response, and can be widely applied to production line execution systems for grabbing, carrying, conveying and the like of target objects in the industries of textile, chemical industry, food, medicine, logistics and the like.

The top cover 2 is arranged at the opening end of the chamber cylinder barrel 3, a first central through hole is formed in the top cover 2, N mounting grooves are uniformly formed in the periphery of the first central through hole, and N is more than or equal to 3.

Further, referring to fig. 2 together with fig. 4, the first central through hole includes a first hole section 210 and a second hole section 220, the second hole section 220 having an inner diameter greater than the inner diameter of the first hole section 210, forming a stepped hole.

A first inner ring groove 230 is formed on the inner side of the first hole section 210 and is used for accommodating the first inner sealing ring 14, so as to ensure sealing with the axial transmission mechanism; the outer side of the top cover 2 is provided with a first outer ring groove 240 for accommodating the first outer sealing ring 15, so as to ensure the movement seal with the chamber cylinder 3.

The piston mechanism is arranged in the open cavity, and a sealed cavity for accommodating an air source is formed by one side, away from the top cover 2, of the piston mechanism and the cavity cylinder barrel 3, so that the axial transmission mechanism can be controlled to move in the first direction conveniently.

Further, a second inner ring groove is formed in the inner side of the piston mechanism and used for accommodating a second inner sealing ring 16, so that the tightness of the sealing chamber is ensured; the second outer ring groove is arranged on the outer side of the piston mechanism and used for accommodating the second outer sealing ring 17, so that the movement sealing with the chamber cylinder barrel 3 is guaranteed, namely the sealing performance of a sealing chamber is guaranteed, and further high-quality pneumatic control is guaranteed.

The air source supply assembly is used for supplying and discharging compressed air, and when the air source supply assembly provides a power air source for the sealed cavity through the air inlet, the air source supply assembly can push the axial transmission mechanism to move in a direction away from the bottom of the open cavity through the piston mechanism under the action of pressure; when the air source supply assembly extracts the power air source in the sealed cavity through the air outlet, the piston mechanism and the axial transmission mechanism move towards the direction close to the bottom of the open cavity; in this embodiment, the moving direction of the axial transmission mechanism is the first direction.

N clamping grooves are formed in the side part of the axial transmission mechanism; one end of the axial transmission mechanism is connected with the piston mechanism, and the other end penetrates through the top cover 2 to be arranged in a overhanging manner, so that the top cover 2 is ensured not to influence the movement of the axial transmission mechanism in the first direction.

The clamping device comprises an air jaw tray 1 and N groups of jaw clamp mechanisms, wherein the air jaw tray 1 is arranged on the outer side of the top cover 2 and fixedly connected with the top cover 2; n containing grooves matched with N groups of claw forceps mechanisms respectively are formed in the gas claw tray 1.

The claw forceps mechanism comprises a clamping piece 8 and a guiding mechanism 10, the guiding mechanism 10 is arranged on the gas claw tray 1, the clamping piece 8 is arranged on the guiding mechanism 10, and the claw forceps mechanism has a moving degree of freedom along the guiding mechanism 10; the first side of the clamping member 8, which in this embodiment is the side facing the top cover 2, is provided with a guide slot parallel to the longitudinal axis of the guide mechanism 10.

The transition device comprises N groups of cam mechanisms which are matched with the N groups of claw forceps mechanisms; the cam mechanism comprises a support shaft 13 and a transition piece 9, wherein the support shaft 13 is arranged in the mounting groove, and the limit of the support shaft 13 is formed by the air jaw tray 1 on the support shaft 13, so that the support shaft 13 is prevented from being separated from the mounting groove. The transition piece 9 is provided with a rotation hole through which the fulcrum 13 is provided, and the transition piece 9 has a degree of freedom of rotation about the fulcrum 13.

Referring to fig. 2 together with fig. 6, the transition piece 9 has a first engaging portion 91 and a second engaging portion 92, where the free end of the first engaging portion 91 extends into the second hole section 220 to engage with the engaging groove, and the second engaging portion 92 protrudes from the mounting groove and engages with the guide groove, so that the direction of the clamping piece 8 is controlled.

The leverage of the transition piece 9 greatly enhances the clamping force and synchronism of the three clamping pieces 8, and overcomes the defects that the traditional mode of crawling by wedge-shaped inclined plane extrusion has small clamping force and one claw is easy to wear and separate from the clamp due to stress; the structure has long effective stroke, large output force, small abrasion and simplest mode, smallest volume and simplest control in the same function implementation when the air jaw is opened and closed.

In this embodiment, all offer the screw hole that link up on the gas claw tray 1, on the top cap 2, offered countersunk screw hole on the cavity cylinder 3, then through long screw (i.e. top cap holding screw 23), after running through gas claw tray 1, top cap 2 in proper order, with countersunk screw hole fixed connection to with gas claw tray 1, top cap 2 and cavity cylinder 3 are fixed, set up through this mode and connect, effectively guarantee holistic compactibility and joint strength.

Further, the upper side of the top cover 2 and the lower side of the air jaw tray 1 are provided with positioning holes, and the quick determination of the installation position of the air jaw tray 1 is realized through the positioning pins 22 arranged in the positioning holes on the upper side of the top cover 2.

In this embodiment, the axial transmission mechanism is preferably a plunger rod 4, the piston mechanism is preferably a piston disc 5, the piston disc 5 is provided with a second central through hole, one end of the plunger rod 4 is arranged through the second central through hole, and the other end is arranged in a cantilever manner through the first central through hole.

Further, the pneumatic clamping jaw device comprises magnetic induction means for detecting the action position of the piston disc 5 and a tightening screw 19; specifically, a high magnetic flux orientation mode is adopted, so that the position of the axial transmission part can be conveniently acquired by using a corresponding magnetic induction switch and the process control can be conveniently performed.

The magnetic induction device comprises a ring support 6 and a magnetic ring 20 arranged on the ring support 6; the ring support 6 is arranged at the end of the axial transmission mechanism.

The ring support 6 is provided with a through hole, and the inner diameter of the through hole is smaller than that of the second central through hole.

The free end of the first shaft section 41 has a connecting shaft section provided with a threaded inner bore.

The free end of the connecting shaft section penetrates through the second central through hole, and the fastening screw 19 penetrates through the through hole and is fixedly connected with the threaded inner hole, namely, the fixed connection between the ring support 6 and the piston disc 5 and the fixed connection between the ring support and the piston rod 4 are realized.

In addition, the fastening screw 19 is also sleeved with a flat pad 21, and the upper side of the flat pad 21 is contacted with the lower side of the ring support 6, so that damage to the lower side of the ring support 6 during tightening and fixing is prevented.

In the first state, the axial transmission mechanism is driven by the air source supply assembly to move away from the chamber cylinder 3, the transition piece 9 is driven to rotate outwards by the first clamping part 91, the clamping piece 8 is pushed to move outwards by the second clamping part 92, the N groups of clamping pieces 8 form an external supporting type clamping area, or the N groups of clamping pieces 8 form a loosening state.

In the second state, the axial transmission mechanism is driven by the air source supply assembly to move away from the air jaw tray 1, the transition piece 9 is driven by the first clamping portion 91 to rotate inwards, the clamping piece 8 is driven by the second clamping portion 92 to move inwards, the N groups of clamping pieces 8 form an outer clamping type clamping area, or the N groups of clamping pieces 8 form a loosening state.

In this embodiment, N is 3, that is, the pneumatic clamping jaw device is provided with three groups of jaw mechanisms, an included angle between every two jaw mechanisms is 120 degrees, the upper and lower positions of the axial transmission mechanism are converted into smooth movement control of the clamping piece 8 in three horizontal directions through the transition piece 9, that is, clamping/loosening movement control, so that an object can be more firmly clamped, whether the object is clamped through an external clamp or the object is clamped through an external support.

Further, the bottom of the chamber cylinder 3 is provided with a protruding positioning part, so that the mechanical arm detection clamping piece 8 can be positioned accurately, and the process components can be detected and picked up.

Referring to fig. 1 together with fig. 3, the plunger rod 4 comprises a first shaft section 41, a second shaft section 42, a third shaft section 43, a fourth shaft section 44 arranged in sequence; the outer diameter of the second shaft section 42 is larger than the outer diameter of the first shaft section 41;

the outer diameter of the third shaft section 43 is smaller than the outer diameter of the second shaft section 42; the outer diameter of the fourth shaft section 44 is larger than the outer diameter of the third shaft section 43.

The inner diameter of the first bore section 210 is larger than the outer diameter of the first shaft section 41, and the inner diameter of the first bore section 210 is smaller than the outer diameter of the second shaft section 42.

The second bore section 220 has an inner diameter that is greater than the outer diameters of the second and fourth shaft sections 42, 44.

The N clamping grooves are communicated and arranged to form an annular groove, and the annular groove is a clamping area formed by the second shaft section 42, the third shaft section 43 and the fourth shaft section 44.

The first shaft section 41 is also sleeved with a first buffer pad 11 and a second buffer pad 12, wherein the first buffer pad 11 is arranged on the upper side of the piston disc 5; the outer diameter of the second bumper pad 12 is greater than the inner diameter of the first bore section 210, the second bumper pad 12 being located in the second bore section 220; through the arrangement of the first buffer pad 11 and the second buffer pad 12, the piston disc 5 is ensured to have enough shock absorption and buffering to reduce collision noise and device abrasion in the process of driving the plunger rod 4 to move.

Referring to fig. 2 together with fig. 5, the guide mechanism 10 includes two guide blocks, both of which are fixedly attached to the receiving groove, in this embodiment, by a grasper set screw 24.

The clamping member 8 comprises a mounting portion and an application portion (not shown in the figures), the guide groove being provided on a first side (i.e. the lower side) of the mounting portion, and the application portion being provided on a second side (i.e. the upper side) of the mounting portion, the second side being the opposite side to the first side.

The third side and the fourth side of the mounting part are respectively provided with a guide side groove, the guide side grooves on two sides are respectively matched with the two guide blocks, the third side is the adjacent side of the first side, and the third side and the fourth side are oppositely arranged; the third side and the fourth side are understood as left and right sides.

In this embodiment, the acting portion and the mounting portion are connected by a connecting member, that is, a connecting hole for mounting the acting portion is formed in the mounting portion.

The clamping areas of the N groups of action parts are positioned in the same fitting circle.

In addition, the action part and the installation part can be integrally formed, so that the overall strength is further improved.

The action part can be a single-rod claw, the N groups of single-rod claws form an outer supporting type clamping area, the outer supporting type clamping area is fixed, the sliding of a target object can be effectively prevented, and the clamping effect and the strength of the loaded target object are higher.

When the outside and the object contact of N group clamping piece 8 act, then N group clamping piece 8 forms the outside and props the centre gripping, for example when carrying out the centre gripping to the spindle in the textile industry, because the outside winding of spindle has the yarn that the fibre twisted into, the equipment of the outside clamp type that discloses in the prior art can lead to the fact the destruction to the product, through the scheme that this application disclosed, can hang clamping piece 8 to the bobbin hole in the middle of the spindle, through outwards expanding formation outside prop fixed, realize the centre gripping to the spindle, can guarantee clamping strength, can not destroy the product again, high efficiency is nimble. In addition, still transport heavy-calibre oil pipe, the scheme of this application disclosure is fixed through outer bracing formula centre gripping, can effectively avoid causing other destruction such as crush injury, mar to oil pipe's outside, satisfies actual demand.

In addition, the action portion can also be single clamping jaw, and the outer clamp formula clamping area is formed to N group single clamping jaw, and the inboard of single clamping jaw and the outer wall of target object can match the setting, for example, the inboard of single clamping jaw can be arc structure, increase and target object's area of contact, guarantee the fixed effect of centre gripping. For example, clamping of any cylindrical target object can be achieved, and pneumatic control is more efficient and rapid.

Referring to fig. 6, the distance from the first engaging portion 91 to the longitudinal central axis of the support shaft 13 is greater than the distance from the second engaging portion 92 to the longitudinal central axis of the support shaft 13, so that a larger travel distance of the plunger rod 4 can be achieved, the control strength of the clamping member 8 is further improved, and more flexible and rapid path control is achieved.

Further, the pneumatic clamping jaw device further comprises a dust-proof device; the center of the gas claw tray 1 is provided with a yielding hole, and the yielding hole is not interfered with the axial transmission mechanism and the claw forceps mechanism; the dustproof device can be installed in the yielding hole in an opening and closing mode, can protect the inside of equipment, is separated from the external environment, and ensures the cleanness of the exercise execution environment.

Preferably, the dust keeper is dust cover 7, and dust cover 7 passes through dust cover holding screw 18 to be fixed, convenient to detach.

The pneumatic clamping jaw device disclosed by the application can bear larger load than a traditional wedge-shaped mechanism under the same cylinder diameter; three-jaw is for two jaws to grasp the object more firmly, especially the round object; the bearing adopts surface contact, so that the lubrication is convenient, the abrasion is light, and the service life is long; the whole structure is easy to process, higher precision can be obtained, and the cost is low; through the special structure of the transition piece disclosed by the application, larger opening, closing and holding strokes can be realized.

The pneumatic clamping jaw device disclosed by the application is simple in structure, compact and reasonable in layout of each part, low in manufacturing and maintaining cost and stable and durable in overall structure.

A second aspect of the application discloses a robot comprising a multi-degree-of-freedom mechanical arm and the pneumatic clamping jaw device; the pneumatic clamping jaw device is arranged at the tail end of the multi-degree-of-freedom mechanical arm; the pneumatic clamping jaw device can drive the target object to move according to a preset path under the drive of the multi-degree-of-freedom mechanical arm. The robot can realize multidirectional automatic control on the target object, has high flexibility, can meet clamping of different strength and different requirements, and can realize rapid transportation of the target object, including but not limited to grabbing, stacking, transferring and the like.

In the description of the present specification, reference to the terms "one embodiment/manner," "some embodiments/manner," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/manner or example is included in at least one embodiment/manner or example of the present application. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment/manner or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples described in this specification and the features of the various embodiments/modes or examples can be combined and combined by persons skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.

It will be appreciated by those skilled in the art that the above-described embodiments are merely for clarity of illustration of the disclosure, and are not intended to limit the scope of the disclosure. Other variations or modifications will be apparent to persons skilled in the art from the foregoing disclosure, and such variations or modifications are intended to be within the scope of the present disclosure.

Claims (10)

1. A pneumatic jaw apparatus, comprising:

the power supply device comprises a cylinder mechanism, a piston mechanism and an axial transmission mechanism; the cylinder mechanism comprises a cavity cylinder barrel, a top cover and a gas source supply assembly, wherein the top cover is arranged at the opening end of the cavity cylinder barrel, and N mounting grooves are formed in the top cover; the piston mechanism is arranged in the chamber cylinder barrel, and a sealed chamber for containing an air source is formed by one side, away from the top cover, of the piston mechanism and the chamber cylinder barrel; n clamping grooves are formed in the side part of the axial transmission mechanism; one end of the axial transmission mechanism is connected with the piston mechanism, and the other end of the axial transmission mechanism penetrates through the top cover and is arranged in a cantilever manner;

the clamping device comprises an air jaw tray and N groups of jaw clamp mechanisms, and the air jaw tray is connected with the top cover; the gas claw tray is provided with N containing grooves which are respectively matched with N groups of claw forceps mechanisms; the claw forceps mechanism comprises a clamping piece and a guiding mechanism, the guiding mechanism is connected with the air claw tray, and the clamping piece is arranged on the guiding mechanism and has a moving degree of freedom along the guiding mechanism; a guide groove parallel to the longitudinal axis of the guide mechanism is formed in the first side of the clamping piece;

the transition device comprises N groups of cam mechanisms which are matched with the N groups of claw mechanisms; the cam mechanism comprises a fulcrum and a transition piece, and the fulcrum is arranged in the mounting groove; the transition piece having a degree of rotational freedom about the fulcrum; the transition piece is provided with a first clamping part and a second clamping part, the first clamping part is clamped with the clamping groove, and the second clamping part is clamped with the guide groove.

2. The pneumatic clamping jaw device according to claim 1, wherein the chamber cylinder has an open chamber, a side wall of the open chamber is provided with an air inlet and an air outlet, and the air inlet and the air outlet are connected with the air source supply assembly;

the top cover is provided with a first central through hole, and the N mounting grooves are uniformly formed in the periphery of the first central through hole; the piston mechanism is a piston disc, and a second center through hole is formed in the piston disc;

the axial transmission mechanism is a plunger rod, one end of the plunger rod penetrates through the second central through hole, and the other end of the plunger rod penetrates through the first central through hole to be in overhanging arrangement;

N≥3。

3. a pneumatic jaw apparatus according to claim 2, wherein the plunger rod comprises a first shaft section, a second shaft section, a third shaft section, a fourth shaft section arranged in sequence;

the outer diameter of the second shaft section is larger than the outer diameter of the first shaft section;

the outer diameter of the third shaft section is smaller than the outer diameter of the second shaft section;

the outer diameter of the fourth shaft section is larger than the outer diameter of the third shaft section;

the N clamping grooves are communicated and arranged to form an annular groove, and the annular groove is a clamping area formed by the second shaft section, the third shaft section and the fourth shaft section.

4. A pneumatic clamping jaw apparatus as claimed in claim 3, wherein the first central through bore comprises a first bore section and a second bore section, the second bore section having an inner diameter greater than the inner diameter of the first bore section;

the inner diameter of the first hole section is larger than the outer diameter of the first shaft section, and the inner diameter of the first hole section is smaller than the outer diameter of the second shaft section;

the inner diameter of the second hole section is larger than the outer diameters of the second shaft section and the fourth shaft section;

the free end of the first clamping part is suspended into the second hole section.

5. The pneumatic jaw apparatus of claim 1, wherein the pneumatic jaw tray is disposed outside of and fixedly connected to the top cover;

the guide mechanism comprises two guide blocks, and the two guide blocks are fixedly connected with the accommodating groove;

the clamping piece comprises an installation part and an action part, the guide groove is formed in a first side of the installation part, the action part is located on a second side of the installation part, and the second side is opposite to the first side;

the third side and the fourth side of the installation part are respectively provided with a guide side groove, the guide side grooves on two sides are respectively matched with the two guide blocks, and the third side is the adjacent side of the first side and is opposite to the fourth side.

6. The pneumatic clamping jaw apparatus of claim 5, wherein the action portion is integrally formed with the mounting portion or the action portion is connected to the mounting portion by a connector;

the clamping areas of the N groups of the action parts are positioned in the same fitting circle;

the action part is a single-rod claw, N groups of single-rod claws form an external supporting type clamping area, or N groups of single-rod claws form an external clamping type clamping area.

7. The pneumatic clamping jaw apparatus of claim 1 wherein said transition piece defines a rotation aperture, said fulcrum being disposed through said rotation aperture;

the second clamping part protrudes out of the mounting groove;

in a first state, the axial transmission mechanism is driven by the air source supply assembly to move away from the cavity cylinder barrel, the first clamping part drives the transition piece to rotate outwards, the second clamping part pushes the clamping piece to move outwards, N groups of clamping pieces form an outer supporting type clamping area, or N groups of clamping pieces form a loosening state;

under the second state, the axial transmission mechanism is driven by the air source supply assembly to move away from the air jaw tray, the first clamping part drives the transition piece to rotate inwards, the second clamping part drives the clamping piece to move inwards, the N groups of clamping pieces form an outer clamping type clamping area, or the N groups of clamping pieces form a loosening state.

8. A pneumatic clamping jaw apparatus as claimed in claim 3, further comprising a magnetic induction device and a fastening screw, the magnetic induction device comprising a ring support and a magnetic ring mounted to the ring support;

the ring support is arranged at the end part of the first shaft section;

the ring support is provided with a through hole, and the inner diameter of the through hole is smaller than that of the second central through hole;

the free end of the first shaft section is provided with a connecting shaft section, and the connecting shaft section is provided with a threaded inner hole;

the free end of the connecting shaft section penetrates through the second central through hole, and the fastening screw penetrates through the through hole and is fixedly connected with the threaded inner hole.

9. The pneumatic jaw apparatus of claim 1, further comprising a dust guard;

a yielding hole is formed in the center of the air claw tray, and the yielding hole does not interfere with the axial transmission mechanism and the claw forceps mechanism;

the dustproof device can be installed in the abdication hole in an opening and closing mode.

10. A robot comprising a multi-degree of freedom mechanical arm and a pneumatic clamping jaw device according to any one of claims 1-9;

the pneumatic clamping jaw device is arranged at the tail end of the multi-degree-of-freedom mechanical arm;

the pneumatic clamping jaw device can drive the target object to move according to a preset path under the drive of the multi-degree-of-freedom mechanical arm;

the preset path comprises one or more of translation, rotation and lifting.