Lever type oval piston pneumatic finger

Abstract

The lever type oval piston pneumatic finger comprises an air cylinder, two oppositely-arranged clamping arms, two swing arm assemblies connected between the power output end of the air cylinder and the clamping arms, and sliding guide assemblies arranged between the air cylinder and the clamping arms. Each swing arm assembly is connected with one clamping arm; the air cylinder is used for pushing the swing arm assembly to drive the clamping arms to move in the horizontal direction through the sliding guide assembly so that the two clamping arms can be opened or closed. The air cylinder comprises a cylinder barrel provided with an inner cavity, a piston arranged in the inner cavity of the cylinder barrel and a piston rod installed on the piston. The cross section of the piston is of an oval structure. One end of the swing arm assembly is rotationally connected with the piston rod; the piston can move up and down in the inner cavity of the cylinder barrel so as to drive the swing arm assembly to swing. According to the pneumatic finger, the oval piston is arranged to push the swing arm assembly, the swing arm assembly of a mechanical lever type structure is used for pulling the two clamping arms to move in the horizontal direction to achieve opening and closing of the pneumatic finger, the structure is simple, operation is smooth, the manufacturing cost is reduced on the premise that the precision requirement is met, and the stability of the pneumatic finger is improved.

Description

Technical Field

[0001] The invention relates to the technical field of automated production lines, and in particular to a lever-type elliptical piston pneumatic finger. Background Art

[0002] In automated production lines, the end effectors of robots usually use pneumatic fingers to complete gripping tasks, which can imitate human fingers in picking up and placing products. In situations where installation space is limited, the size of pneumatic fingers is required to be reduced. Although the existing small-volume pneumatic fingers save installation space, they have problems such as insufficient clamping force and low positioning accuracy. Summary of the invention

[0003] The purpose of the present invention is to provide a lever-type elliptical piston pneumatic finger, which realizes the opening and closing of the pneumatic finger by arranging an elliptical piston to push the swing arm assembly, and utilizing the swing arm assembly with a mechanical lever-type structure to pull the two clamping arms to move in the horizontal direction. The structure is simple and the operation is smooth. The manufacturing cost is reduced while meeting the precision requirements, and the stability of the pneumatic finger is improved.

[0004] In order to achieve the above purpose, the following technical solutions are adopted:

[0005] A lever-type elliptical piston pneumatic finger comprises a cylinder, two clamping arms arranged opposite to each other, two swing arm assemblies connected between the power output end of the cylinder and the clamping arms, and a sliding guide assembly arranged between the cylinder and the clamping arms; each swing arm assembly is connected to a clamping arm; the cylinder is used to push the swing arm assembly to drive the clamping arm to move in the horizontal direction through the sliding guide assembly to realize the opening or closing of the two clamping arms; the cylinder comprises a cylinder barrel with an inner cavity, a piston placed in the inner cavity of the cylinder barrel, and a piston rod installed on the piston; the cross-section of the piston is elliptical; one end of the swing arm assembly is rotatably connected to the piston rod; the piston can move up and down in the inner cavity of the cylinder barrel to drive the swing arm assembly to swing.

[0006] Preferably, the sliding guide assembly includes a sliding seat arranged at the top of the cylinder, and two sliding rails slidably connected to the sliding seat; each sliding rail is arranged at the bottom of a clamping arm; a sliding groove matching the sliding rail is opened at the top of the sliding seat, and the sliding groove is opened through the two ends of the sliding seat in a horizontal direction.

[0007] Preferably, the swing arm assembly includes a rotating shaft arranged in a sliding seat, and a swing arm rotatably connected to the rotating shaft; the swing arm is in an A-shaped structure, and the rotating shaft is connected to the A-shaped tip of the swing arm; the A-shaped free ends of the two swing arms are arranged facing each other.

[0008] Preferably, a movable hole is provided at the bottom of the slide groove and penetrates to the bottom of the sliding seat, and the upper parts of the two swing arm assemblies and the piston rod are arranged in the movable hole; a first abutment groove is provided on the upper side wall of the piston rod corresponding to each swing arm, and a second abutment groove is provided at the bottom of each slide rail; one of the A-type free ends of the swing arm is rotatably connected to the first abutment groove, and the other A-type free end of the swing arm is rotatably connected to the second abutment groove.

[0009] Preferably, the slide rail extends toward the middle of the slide groove to form an extension portion; when the two clamping arms are closed, the extension portions of the two slide rails fit together; a baffle is also provided at the top of the slide groove, and the baffle is located between the two clamping arms; when the two clamping arms are opened, the baffle is used to cover the gap between the extension portions of the two slide rails.

[0010] Preferably, the inner cavity of the cylinder is also sealed with a front cover, and the front cover is located above the piston; the piston rod is movable through the front cover, and the piston can move between the bottom of the inner cavity of the cylinder and the front cover.

[0011] Preferably, the piston is a non-buffered piston.

[0012] Preferably, the outer side surfaces of the clamping arm and the cylinder are each provided with at least one positioning sleeve for connecting with the outside.

[0013] Preferably, sealing rings are provided between the piston and the inner cavity of the cylinder, between the front cover and the inner cavity of the cylinder, and between the front cover and the piston rod.

[0014] By adopting the above scheme, the beneficial effects of the present invention are:

[0015] The present invention sets an elliptical piston to push the swing arm assembly, and uses the swing arm assembly with a mechanical lever structure to pull the two clamping arms to move in the horizontal direction to realize the opening and closing of the pneumatic fingers. The structure is simple and the operation is smooth. The manufacturing cost is reduced while meeting the accuracy requirements, and the stability of the pneumatic fingers is improved. At the same time, the two clamping arms are in a parallel state during the movement, which is suitable for grabbing products inward and outward, and has strong versatility. In addition, the elliptical piston can not only make the cylinder thinner to save installation space, but also increase the force area to enhance the clamping force. In the preferred embodiment, the motion trajectory of the clamping arm in the slide groove through the slide rail is a linear motion trajectory, and the rotation clearance of the clamping arm is small, which ensures the high precision and stability of the clamping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A perspective view of the present invention;

[0017] Figure 2 An exploded view of the present invention;

[0018] Figure 3 It is a schematic diagram of the cross-sectional structure of the present invention;

[0019] The accompanying drawings illustrate:

[0020] 1—cylinder, 2—clamping arm,

[0021] 3—swing arm assembly, 4—sliding guide assembly,

[0022] 5—Baffle, 6—Front cover,

[0023] 7—positioning sleeve, 11—cylinder barrel,

[0024] 12—piston, 13—piston rod,

[0025] 31 - rotating shaft, 32 - swing arm,

[0026] 41—sliding seat, 42—sliding rail. DETAILED DESCRIPTION

[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0028] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0029] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0030] Reference Figures 1 to 3As shown, the present invention provides a lever-type elliptical piston pneumatic finger, comprising a cylinder 1, two clamping arms 2 arranged opposite to each other, two swing arm assemblies 3 connected between the power output end of the cylinder 1 and the clamping arm 2, and a sliding guide assembly 4 arranged between the cylinder 1 and the clamping arm 2; each swing arm assembly 3 is connected to a clamping arm 2; the cylinder 1 is used to push the swing arm assembly 3 to drive the clamping arm 2 to move in the horizontal direction through the sliding guide assembly 4 to realize the opening or closing of the two clamping arms 2; the cylinder 1 comprises a cylinder 11 with an inner cavity, a piston 12 placed in the inner cavity of the cylinder 11, and a piston rod 13 installed on the piston 12; the cross section of the piston 12 is an elliptical structure; the cross section of the piston 12 is an elliptical structure, and correspondingly, the inner cavity of the cylinder 11 matches the elliptical structure. By setting the piston 12 to an elliptical structure, the output of the cylinder 1 is greater under the same pressure compared with the piston 12 of a circular structure. One end of the swing arm assembly 3 is rotatably connected to the piston rod 13; the piston 12 can move up and down in the inner cavity of the cylinder 11 to drive the swing arm assembly 3 to swing.

[0031] Among them, the sliding guide assembly 4 includes a sliding seat 41 arranged at the top of the cylinder 11, and two sliding rails 42 slidably connected to the sliding seat 41; each sliding rail 42 is arranged at the bottom of a clamping arm 2; a sliding groove matching the sliding rail 42 is opened at the top of the sliding seat 41, and the sliding groove is opened through the two ends of the sliding seat 41 in the horizontal direction.

[0032] A lever-type elliptical piston pneumatic finger provided by the present invention cleverly utilizes the working principle of the lever. Compared with other complex mechanical structures, the lever structure of the swing arm assembly 3 is relatively simple, which reduces the complexity and cost of the manufacturing process and reduces the installation space. At the same time, it effectively changes the movement trajectory of the clamping arm 2, so that the clamping arm 2 moves linearly in the slide groove through the slide rail 42. The two clamping arms 2 are in a parallel state during the movement, which is suitable for grasping products inward and outward. The gap between the slide rail 42 and the slide groove is small, which significantly improves the clamping accuracy.

[0033] The swing arm assembly 3 includes a rotating shaft 31 disposed in a sliding seat 41, and a swing arm 32 rotatably connected to the rotating shaft 31; the swing arm 32 is in an A-shaped structure, and the rotating shaft 31 is connected to the A-shaped tip of the swing arm 32; the A-shaped free ends of the two swing arms 32 are arranged facing each other. The swing arm assembly 3 adopts a mechanical lever structure to reduce the installation space. The piston 12 is connected to the piston rod 13. When the piston rod 13 moves upward, the swing arm 32 is pulled to rotate, so that the two clamping arms 2 slide and open along the slide groove through the slide rail 42.

[0034] A movable hole is provided at the bottom of the slide groove and penetrates to the bottom of the sliding seat 41, and the upper parts of the two swing arm assemblies 3 and the piston rod 13 are arranged in the movable hole; a first abutment groove is provided on the upper side wall of the piston rod 13 corresponding to each swing arm 32, and a second abutment groove is provided at the bottom of each slide rail 42; one of the A-type free ends of the swing arm 32 is rotatably connected to the first abutment groove, and the other A-type free end of the swing arm 32 is rotatably connected to the second abutment groove.

[0035] The slide rail 42 extends to the middle of the slide groove to form an extension; when the two clamping arms 2 are closed, the extensions of the two slide rails 42 fit together; since a movable hole is provided at the bottom of the sliding seat 41 (slide groove), in order to prevent foreign matter from entering the interior of the pneumatic finger, a baffle 5 is also provided at the top of the slide groove, and the baffle 5 is located between the two clamping arms 2; the baffle 5 is provided as a foolproof design, and when the two clamping arms 2 are opened, the baffle 5 is used to cover the gap between the extensions of the two slide rails 42 to prevent affecting the normal operation of the piston rod 13, the swing arm assembly 3, and the clamping arm 2. When the two clamping arms 2 are closed, the extensions of the two slide rails 42 fit together to fill the slide groove; when the two clamping arms 2 are opened, the baffle 5 can cover the gap between the extensions of the two slide rails 42.

[0036] The inner cavity of the cylinder 11 is also sealed with a front cover 6, and the front cover 6 is located above the piston 12; the piston rod 13 is arranged to move through the front cover 6, and the piston 12 can move between the bottom of the inner cavity of the cylinder 11 and the front cover 6. The outer side of the clamping arm 2 and the cylinder 11 are each provided with at least one positioning sleeve 7 for connecting with the outside. Sealing rings are provided between the piston 12 and the inner cavity of the cylinder 11, between the front cover 6 and the inner cavity of the cylinder 11, and between the front cover 6 and the piston rod 13.

[0037] Furthermore, the cross section of the slide rail 42 is in an inverted T-shaped structure, and its inverted T-shaped vertical end is connected to the bottom of the clamping arm 2, and a limit groove is formed between its inverted T-shaped horizontal end and the bottom of the clamping arm 2. Correspondingly, the side wall of the slide groove is provided with a limit strip matching the limit groove. When the slide rail 42 is slidably connected to the slide groove, the limit strip is movably inserted into the limit groove to prevent the slide rail 42 from escaping from the slide groove in the vertical direction. During the closing movement of the two clamping arms 2, the purpose of the pneumatic finger closing stroke limit is achieved by the extension of the two slide rails 42 being fitted together; during the opening movement of the two clamping arms 2, the purpose of the pneumatic finger opening stroke limit is achieved by the piston 12 moving upward to fit with the front cover 6. The piston 12 adopts a non-buffered piston to improve the clamping accuracy.

[0038] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention. Obviously, the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A lever-type oval piston pneumatic finger, characterized in that: It includes a cylinder, two clamping arms arranged opposite to each other, two swing arm assemblies connected between the power output end of the cylinder and the clamping arms, and a sliding guide assembly arranged between the cylinder and the clamping arms; each swing arm assembly is connected to a clamping arm; the cylinder is used to push the swing arm assembly to drive the clamping arm to move in the horizontal direction through the sliding guide assembly to realize the opening or closing of the two clamping arms; the cylinder includes a cylinder barrel with an inner cavity, a piston placed in the inner cavity of the cylinder barrel, and a piston rod installed on the piston; the cross-section of the piston is elliptical; one end of the swing arm assembly is rotatably connected to the piston rod; the piston can move up and down in the inner cavity of the cylinder barrel to drive the swing arm assembly to swing.

2. The lever-type oval piston pneumatic finger according to claim 1, characterized in that: The sliding guide assembly includes a sliding seat arranged at the top of the cylinder, and two sliding rails slidably connected to the sliding seat; each sliding rail is arranged at the bottom of a clamping arm; a sliding groove matching the sliding rail is opened at the top of the sliding seat, and the sliding groove is opened through the two ends of the sliding seat in a horizontal direction.

3. The lever-type oval piston pneumatic finger according to claim 2, characterized in that: The swing arm assembly includes a rotating shaft arranged in a sliding seat, and a swing arm rotatably connected to the rotating shaft; the swing arm is in an A-shaped structure, and the rotating shaft is connected to the A-shaped tip of the swing arm; the A-shaped free ends of the two swing arms are arranged facing each other.

4. The lever-type oval piston pneumatic finger according to claim 3, characterized in that: A movable hole is provided at the bottom of the slide groove and penetrates to the bottom of the sliding seat, and the upper parts of the two swing arm assemblies and the piston rod are arranged in the movable hole; a first abutment groove is provided on the upper side wall of the piston rod corresponding to each swing arm, and a second abutment groove is provided at the bottom of each slide rail; one of the A-type free ends of the swing arm is rotatably connected to the first abutment groove, and the other A-type free end of the swing arm is rotatably connected to the second abutment groove.

5. The lever-type oval piston pneumatic finger according to claim 2, characterized in that: The slide rail extends toward the middle of the slide groove to form an extension portion; when the two clamping arms are closed, the extension portions of the two slide rails fit together; a baffle is also provided on the top of the slide groove, and the baffle is located between the two clamping arms; when the two clamping arms are opened, the baffle is used to cover the gap between the extension portions of the two slide rails.

6. The lever-type oval piston pneumatic finger according to claim 1, characterized in that: The inner cavity of the cylinder is also sealed with a front cover, and the front cover is located above the piston; the piston rod is arranged to move through the front cover, and the piston can move between the bottom of the inner cavity of the cylinder and the front cover.

7. The lever-type oval piston pneumatic finger according to claim 1, characterized in that: The piston is a non-buffered piston.

8. The lever-type oval piston pneumatic finger according to claim 1, characterized in that: The outer side surfaces of the clamping arm and the cylinder are each provided with at least one positioning sleeve for connecting with the outside.

9. The lever-type elliptical piston pneumatic finger according to claim 6, characterized in that: Sealing rings are arranged between the piston and the inner cavity of the cylinder, between the front cover and the inner cavity of the cylinder, and between the front cover and the piston rod.

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