Pneumatic claw anti-skid structure

Abstract

The utility model relates to the technical field of automation equipment, in particular to a pneumatic claw anti-skid structure which comprises an upper pneumatic claw body, an air inlet, a clamping arm, a clamping claw, a flexible air bag, an air injection hole, a pressure equalizing spring and a pressure equalizing plate. The surface of the workpiece is wrapped, so that the contact area between the clamping jaw and the surface of the workpiece is increased, and the clamping effect of the clamping jaw on the workpiece is enhanced; the end, away from the clamping arm, of the flexible air bag is of an inwards-protruding structure which is evenly distributed, when a grabbed workpiece is of a hollow structure, the tail end of the flexible air bag of the clamping jaw can stretch into the hollow position, after the tail end of the flexible air bag of the clamping jaw stretches into the hollow position, expansion deformation occurs in the workpiece under the pressure effect of the clamping arm and the surface of the workpiece, and the workpiece is clamped and fixed from the interior; and when the clamping jaw grabs the hollow workpiece, the grabbing success rate of the clamping jaw can be greatly improved, and therefore the machining operation efficiency of the workpiece is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to an air claw anti-slip structure. Background Art

[0002] The robotic arm on the automation equipment and the pneumatic mechanical claw on the robotic arm, namely the air claw, are terminal actuators powered by compressed air and used to clamp or grab workpieces. They have outstanding advantages such as compact structure, high repeatability and strong load capacity.

[0003] The existing Chinese patent application number CN202021453881.X discloses a rotary air claw, comprising a fixed seat, a rotary cylinder and a claw clamp, characterized in that the fixed seat is movably connected with a rotary cylinder inside, the output end of the rotary cylinder is fixedly connected with an L-shaped rotating frame, one end of the L-shaped rotating frame is rotatably connected with a fixed plate through a hinge, the inner top wall of the L-shaped rotating frame is fixedly connected with a first mounting seat, the first mounting seat is movably connected with a telescopic rod through a first rotating shaft, one end of the telescopic rod is movably connected with the inside of a second mounting seat arranged on the upper surface of the fixed plate through a second rotating shaft, the lower surface of the fixed plate is movably connected with a cylinder body through a bolt, the lower surface of the cylinder body is provided with a groove, the inner side surface of the groove is fixedly connected with a limit rod, the inner top of the cylinder body is movably connected with a tension spring, one end of the tension spring is movably connected with a sealing slider, the lower surface of the sealing slider is fixedly connected with a fixed block, the interior of the fixed block is movably connected with a claw clamp through a rotating shaft, the outer side surface of the claw clamp is provided with a slide groove, and the interior of the slide groove is movably connected with the limit rod.

[0004] From the above, it can be seen that through the arrangement of the rotary cylinder, L-shaped rotating frame, telescopic rod and fixed plate, the rotary cylinder can rotate the L-shaped rotating frame, and the telescopic rod can adjust the angle of the processed parts on the air claw fixed on the fixed plate, thereby improving the practicality of the device and solving the problem that the traditional device has a fixed structure and insufficient flexibility of the air claw. However, there are still the following shortcomings: when clamping a workpiece with a relatively smooth surface, a cylindrical shape or other irregular structures, the workpiece may slip when clamping the workpiece due to the small contact surface between the inner wall of the air claw and the workpiece, or the inner wall of the air claw is also relatively smooth, resulting in a situation where the clamping fails.

[0005] Therefore, in order to solve the above problems, an air gripper anti-slip structure is proposed. Utility Model Content

[0006] 1. Technical issues to be solved

[0007] In view of the deficiencies in the prior art, the utility model provides an anti-slip structure for an air gripper, which solves the technical problem that the air gripper can stably clamp a workpiece with a smooth surface.

[0008] (II) Technical solution

[0009] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0010] An air gripper anti-slip structure, comprising:

[0011] An air gripper body, wherein the surface of the air gripper body is provided with an air inlet for the compressed gas to enter;

[0012] Also includes:

[0013] Clamp arms, the clamp arms are connected to the cylinder in the air gripper body, the two clamp arms extend out of the air gripper body and slide toward each other along the side wall of the air gripper body;

[0014] The clamping claw is fixedly connected to the inner side of the clamping arm, and is used to directly contact the grasped workpiece and cooperate with the clamping arm to clamp and grasp the workpiece.

[0015] Preferably, the claw comprises:

[0016] A flexible airbag, wherein the flexible airbag is fixedly connected to an end of the clamp arm away from the air gripper body, and the outer surface of the flexible airbag is etched with a rough corrugated texture;

[0017] The air injection hole is provided on the surface of the flexible air bag, the air injection hole is connected to an external air injection cavity, and the pressure of the gas injected into the flexible air bag through the air injection hole is lower than the pressure of the compressed gas in the air claw body.

[0018] Preferably, the end of the flexible airbag away from the clamp arm is a uniformly distributed inwardly convex structure.

[0019] Preferably, a pressure equalizing spring is fixedly connected to the surface of the clamp arm near one end of the clamp arm in the flexible airbag, and a pressure equalizing plate is fixedly connected to the end of the pressure equalizing spring and is slidably and sealingly connected to the inner wall of the flexible airbag.

[0020] Preferably, the flexible airbag is divided into a plastic material portion that does not deform within the sliding range of the pressure equalizing plate and an elastic material portion whose protruding portion changes with the pressure applied.

[0021] Preferably, the gaps at the connecting parts between the evenly distributed multiple protrusions of the flexible airbag gradually decrease from both sides to the center.

[0022] (III) Beneficial effects

[0023] Compared with the prior art, the utility model provides an air claw anti-slip structure, which has the following beneficial effects:

[0024] When the flexible airbag contacts the surface of the workpiece, the flexible airbag will deform along the surface of the workpiece under the action of the pressure of the clamp arm and wrap the surface of the workpiece, thereby increasing the contact area between the clamping claw and the workpiece surface and enhancing the clamping effect of the clamping claw on the workpiece; and the end of the flexible airbag away from the clamping arm is an evenly distributed inward convex structure. When the workpiece to be grasped is a hollow structure, the flexible airbag end of the clamping claw can extend into the hollow position, and after extending into the hollow, it expands and deforms inside the workpiece under the action of the pressure of the clamping arm and the workpiece surface, clamping and fixing the workpiece from the inside, so that the success rate of the clamping claw in grasping the hollow workpiece can be greatly improved, thereby further improving the processing efficiency of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0026] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0027] Figure 2 It is a three-dimensional structural cross-sectional view of the clamping claw of the utility model;

[0028] Figure 3 for Figure 2 Enlarged view of point A in .

[0029] Description of reference numerals:

[0030] 1. Air gripper body; 2. Air inlet; 3. Clamp arm; 4. Clamping claw; 5. Flexible air bag; 6. Air injection hole; 7. Pressure equalizing spring; 8. Pressure equalizing plate. DETAILED DESCRIPTION

[0031] The following will describe the implementation methods of the present application in detail with the help of accompanying drawings and examples, so that the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0032] Combination Figure 1-3 FIG. 1 is an embodiment of the present invention. The present invention provides an anti-slip structure of an air claw, comprising:

[0033] An air gripper body 1, wherein the surface of the air gripper body 1 is provided with an air inlet 2 for introducing compressed gas;

[0034] Also includes:

[0035] The clamping arms 3 are connected to the cylinder in the air gripper body 1. The two clamping arms 3 extend out of the air gripper body 1 and slide toward each other along the side wall of the air gripper body 1.

[0036] The clamping claw 4 is fixedly connected to the inner side of the clamping arm 3. The clamping claw 4 is used to directly contact the grasped workpiece and cooperate with the clamping arm 3 to clamp and grasp the workpiece.

[0037] As an implementation mode of the utility model, the claw 4 includes:

[0038] A flexible airbag 5, wherein the flexible airbag 5 is fixedly connected to an end of the clamp arm 3 away from the air gripper body 1, and the outer surface of the flexible airbag 5 is etched with a rough corrugated texture;

[0039] The gas injection hole 6 is provided on the surface of the flexible airbag 5 , and the gas injection hole 6 is connected to an external gas injection cavity. The pressure of the gas injected into the flexible airbag 5 through the gas injection hole 6 is lower than the pressure of the compressed gas in the air gripper body 1 .

[0040] As an implementation mode of the present utility model, the end of the flexible airbag 5 away from the clamp arm 3 is a uniformly distributed inwardly convex structure.

[0041] When the air gripper needs to grasp a workpiece that is difficult to clamp due to its smooth surface or complex shape, first, the air valve of the air inlet 2 on the surface of the air gripper body 1 is opened and starts working, so that the clamping arms 3 are acted upon by the cylinder in the air gripper and move toward each other and approach each other; in the process of the two clamping arms 3 approaching each other, the clamping claw 4 installed at the end of the clamping claw 3 also gradually approaches the workpiece, and after the clamping claw 4 contacts the workpiece, the flexible airbag 5 at the front end of the clamping claw 4 contacts the workpiece first, because compressed gas with a pressure lower than the cylinder pressure in the air gripper body 1 is injected into the flexible airbag 5 through the air injection hole 6, therefore, when the flexible airbag 5 contacts the surface of the workpiece, the flexible airbag 5 will deform along the surface of the workpiece under the action of the pressure of the clamping arm 3, and wrap the surface of the workpiece, thereby increasing the contact area between the clamping claw 4 and the surface of the workpiece, and enhancing the clamping effect of the clamping claw 4 on the workpiece; and the flexible airbag 5 is away from One end of the clamp arm 3 is an evenly distributed inwardly convex structure. When the workpiece to be grasped is a hollow structure, the end of the flexible airbag 5 of the clamping claw 4 can be extended into the hollow position, and after extending into the hollow, it expands and deforms inside the workpiece under the pressure of the clamp arm 3 and the surface of the workpiece, and the workpiece is clamped and fixed from the inside, so that when the clamping claw 4 grasps the hollow workpiece, its grasping success rate can be greatly improved, thereby further improving the processing efficiency of the workpiece; further, a rough corrugated texture is etched on the outer surface of the flexible airbag 5, so that even if the surface of the clamped workpiece is relatively smooth, the wrapping effect of the flexible airbag 5 of the clamping claw 4 and the friction of the surface corrugated texture can ensure that the clamping claw 4 can exert sufficient clamping force on the workpiece to achieve the technical effect of steadily grasping the workpiece, thereby improving the adaptability and success rate of the clamping claw 4 in clamping different workpieces.

[0042] As an embodiment of the utility model, a pressure equalizing spring 7 is fixedly connected to the surface of the clamp arm 3 near one end of the flexible airbag 5, and a pressure equalizing plate 8 is also fixedly connected to the end of the pressure equalizing spring 7 and is slidingly sealed with the inner wall of the flexible airbag 5.

[0043] As an implementation mode of the utility model, the flexible airbag 5 is divided into a plastic material part that does not deform in the sliding range of the pressure equalizing plate 8 and an elastic material part whose convex part changes with the pressure.

[0044] As an implementation mode of the present utility model, the gap between the communicating parts of the evenly distributed multiple protrusions of the flexible airbag 5 gradually decreases from both sides to the center.

[0045] When working, a pressure-equalizing spring 7 is fixedly connected to the surface of the clamp arm 3, and the end of the pressure-equalizing spring 7 is also fixedly connected to a pressure-equalizing plate 8 which is slidably and sealedly connected to the plastic material part of the flexible airbag 5. During the clamping process of the claw 4, the pressure-equalizing plate 8 is subjected to the pressure of the compressed gas filled in the elastic material part of the flexible airbag 5, and the compressed pressure-equalizing spring 7 contracts, and the pressure-equalizing plate 8 also slides inward accordingly; and after the claw 4 grabs the workpiece to the target position, the clamp arm 3 is separated, and after the action force between the clamp arm 4 connected to the clamp arm 3 and the workpiece disappears, the pressure-equalizing plate 8 slides outward under the elastic action of the pressure-equalizing spring 7, accelerating the recovery of the compressed gas distribution in the flexible airbag 5, so that the deformation of the elastic material part at the front end of the flexible airbag 5 is quickly restored, and the gap between the connecting parts of the evenly distributed multiple protrusions of the flexible airbag 5 gradually decreases from both sides to the center, so that when the compressed gas flows between different protrusions, the flow is accelerated under the action of the Venturi effect, thereby accelerating the speed at which the front end of the flexible airbag 5 recovers to its original state, which is convenient for the placement of the workpiece after the grasping is completed.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An air gripper anti-slip structure, comprising: An air gripper body (1), wherein a gas inlet (2) for introducing compressed gas is provided on the surface of the air gripper body (1); It is characterized by further comprising: Clamp arms (3), the clamp arms (3) being connected to the cylinder in the air gripper body (1), the two clamp arms (3) extending out of the air gripper body (1) and sliding toward each other along the side wall of the air gripper body (1); A clamping claw (4), wherein the clamping claw (4) is fixedly connected to the inner side of the clamping arm (3), and the clamping claw (4) is used to directly contact the grasped workpiece and cooperate with the clamping arm (3) to clamp and grasp the workpiece.

2. The anti-slip structure of an air gripper according to claim 1, characterized in that: The claw (4) comprises: A flexible airbag (5), the flexible airbag (5) being fixedly connected to an end of the clamp arm (3) away from the air gripper body (1), the outer surface of the flexible airbag (5) being etched with a rough corrugated texture; An air injection hole (6) is provided on the surface of the flexible airbag (5), the air injection hole (6) is connected to an external air injection cavity, and the pressure of the gas injected into the flexible airbag (5) through the air injection hole (6) is lower than the pressure of the compressed gas in the air claw body (1).

3. The anti-slip structure of the air gripper according to claim 2, characterized in that: The end of the flexible airbag (5) away from the clamp arm (3) is a uniformly distributed inwardly convex structure.

4. The anti-slip structure of the air gripper according to claim 3, characterized in that: A pressure equalizing spring (7) is fixedly connected to the surface of the clamp arm (3) in the flexible airbag (5) near one end of the clamp arm (3), and a pressure equalizing plate (8) is fixedly connected to the end of the pressure equalizing spring (7) and is slidably and sealingly connected to the inner wall of the flexible airbag (5).

5. The anti-slip structure of the air gripper according to claim 4, characterized in that: The flexible airbag (5) is divided into a plastic material portion that does not deform within the sliding range of the pressure equalizing plate (8) and an elastic material portion whose protruding portion changes with the pressure applied.

6. The anti-slip structure of the air gripper according to claim 5, characterized in that: The gaps at the communicating parts between the evenly distributed plural protrusions of the flexible airbag (5) gradually decrease from both sides to the center.

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