Pneumatic type four-point positioning mechanical arm clamping jaw

Abstract

The utility model relates to a pneumatic four-finger positioning mechanical arm clamping jaw which not only can accurately take and place a cylindrical workpiece or a cuboid workpiece, but also can exert an effective pressing force on the cylindrical workpiece or the cuboid workpiece, meanwhile, the outer circle face of the cylindrical workpiece is not prone to deformation due to clamping, and meanwhile the structure of jaw blocks is compact. A claw block is installed on each of four installation blocks in the four-claw air cylinder, a vertical plate is arranged on one side of a bottom plate in each claw block, a notch groove is formed in the upper end face of each vertical plate and extends towards the two sides to penetrate through the two side faces of the corresponding vertical plate, and a through hole is formed in the upper end face of each bottom plate; and the claw blocks are fixedly mounted on the mounting blocks through bolts after the through holes are communicated with the threaded holes in the corresponding mounting blocks. The pneumatic type four-finger positioning mechanical arm clamping jaw has the advantages that the pneumatic type four-finger positioning mechanical arm clamping jaw not only can accurately take and place cylindrical workpieces or cuboid workpieces, but also can apply effective pressing force to the cylindrical workpieces or the cuboid workpieces;

Description

Technical Field

[0001] This utility model belongs to the field of four-claw finger cylinder manufacturing technology, specifically relating to a pneumatic four-finger positioning robotic arm gripper. Background Technology

[0002] Existing pneumatic grippers, such as Figure 1 As shown, it includes a four-jaw cylinder 1' and four L-shaped clamping blocks 2'. Each of the four mounting blocks 3' in the four-jaw cylinder 1' has an L-shaped clamping block 2' (the vertical plate in the L-shaped clamping block is rectangular). In use, the four mounting blocks 3' in the four-jaw cylinder 1' move inwards synchronously, causing the four L-shaped clamping blocks 2' to clamp cylindrical or cuboid workpieces (with a square cross-section). When the four mounting blocks 3' in the four-jaw cylinder 1' move outwards synchronously, the four L-shaped clamping blocks 2' release the cylindrical or cuboid workpiece. When the pneumatic gripper is used in conjunction with a robotic arm, precise picking and placing of cylindrical or cuboid workpieces can be achieved. However, because the vertical plate in the L-shaped clamping block is rectangular, when the pneumatic gripper, in conjunction with the robotic arm, places the cylindrical or cuboid workpiece in a predetermined position, it cannot apply effective pressure to the cylindrical or cuboid workpiece. The current method of holding force is insufficient for certain workpieces (such as cylindrical LED lens lamps). When handling and installing these components, two robotic arms are required. One arm is equipped with a pneumatic gripper, and the other with a pressure plate. After the pneumatic gripper places the cylindrical LED lens lamp onto the corresponding LED lens lamp mounting component (which has an adhesive layer pre-applied to it), the other arm with the pressure plate applies an effective holding force to achieve bonding between the LED lens lamp mounting component and the cylindrical LED lens lamp. This not only reduces the assembly efficiency of the LED lens lamp mounting component and the cylindrical LED lens lamp but also increases the assembly cost. To address these shortcomings, we have developed a pneumatic four-point positioning robotic arm gripper. Utility Model Content

[0003] Design objective: To avoid the shortcomings of the prior art, this paper designs a pneumatic four-point positioning robotic arm gripper that can not only accurately pick up and place cylindrical or cuboid workpieces, but also apply an effective holding force to the cylindrical or cuboid workpieces, while the outer surface of the cylindrical workpiece is not easily deformed due to clamping, and the gripper block structure is compact.

[0004] Design scheme: To achieve the above design objectives.

[0005] 1. The claw block has a vertical plate on one side of the base plate, and the base plate and the vertical plate are arranged in an L-shape. The upper end face of the vertical plate has a notch, which extends to both sides and penetrates the two sides of the vertical plate. The notch also extends outward to penetrate the outer side of the vertical plate. The upper end face of the base plate has a through hole that penetrates both the upper and lower end faces of the base plate. The design of the claw block being fixed to the mounting block by bolts after the through hole aligns with the threaded hole on the corresponding mounting block is one of the technical features of this utility model. The purpose of this design is as follows: One side of the base plate in the claw block has a vertical plate, and the base plate and the vertical plate are arranged in an L-shape. The upper surface of the vertical plate has a notch, which extends to both sides of the vertical plate and extends outwards to the outer surface of the vertical plate. The upper surface of the base plate has a through hole that passes through both the upper and lower surfaces of the base plate. The claw block is fixed to the mounting block by bolts after the through hole aligns with the threaded hole on the corresponding mounting block. Because the vertical plate has a notch, after a pneumatic four-point positioning robotic arm gripper, in conjunction with the robotic arm, places a cylindrical or cuboid workpiece in a predetermined position, the pneumatic four-point positioning robotic arm gripper can also apply an effective holding force to the cylindrical or cuboid workpiece. Therefore, when picking up and placing workpieces (such as cylindrical LED lens lights), only one... A robotic arm equipped with a pneumatic four-point positioning gripper can complete the picking and placing of workpieces. For example, when the robotic arm with a pneumatic four-point positioning gripper places a cylindrical LED lens lamp onto the corresponding LED lens lamp mounting part (the LED lens lamp mounting part has an adhesive layer pre-applied on it), the robotic arm can apply an effective holding force to the LED lens lamp mounting part by pressing down on the pneumatic four-point positioning gripper, realizing the bonding and assembly of the LED lens lamp mounting part and the cylindrical LED lens lamp in one step. This not only improves the assembly efficiency of the LED lens lamp mounting part and the cylindrical LED lens lamp, but also reduces the assembly cost of the LED lens lamp mounting part and the cylindrical LED lens lamp. In addition, the simultaneous positioning and gripping of the workpiece by the four grippers can improve the accuracy of workpiece picking and placing.

[0006] 2. The design of the inner side of the notch groove as a first arc-shaped surface is the second technical feature of this utility model. The purpose of this design is that: the inner side of the notch groove is a first arc-shaped surface, so that when the four claw blocks clamp the circular workpiece at the same time, the effective clamping contact surface between the claw blocks and the circular workpiece is larger (the contact between the claw blocks and the circular workpiece is surface-to-surface, while in the prior art, since the vertical plate is a rectangular plate, the contact between the vertical plate and the circular workpiece is line-to-surface, i.e., line contact). In this way, the outer surface of the cylindrical workpiece is less likely to deform due to clamping.

[0007] 3. The design of the outer surface of the vertical plate as a second arc-shaped surface is the third technical feature of this utility model. The purpose of this design is that the outer surface of the vertical plate is a second arc-shaped surface, so that the pneumatic four-point positioning robotic arm gripper can clamp workpieces with relatively higher heights through the second arc-shaped surface, thereby improving its applicability.

[0008] 4. The upper surface of the base plate has two through holes, and the inner side of the vertical plate has an arc-shaped clearance groove. The arc-shaped clearance groove extends upwards through the upper surface of the vertical plate and downwards to the upper surface of the base plate. This design is the fourth technical feature of this utility model. The purpose of this design is that the upper surface of the base plate has two through holes, and the inner side of the vertical plate has an arc-shaped clearance groove. The arc-shaped clearance groove extends upwards through the upper surface of the vertical plate and downwards to the upper surface of the base plate. This design ensures the strength of the claw block while reducing its volume, resulting in a more compact claw block.

[0009] 5. The design of having a rubber or silicone sleeve on the upper end of the vertical plate is the fifth technical feature of this utility model. The purpose of this design is that the rubber or silicone sleeve on the upper end of the vertical plate can prevent scratches on the outer surface of cylindrical or cuboid workpieces.

[0010] Technical solution: A pneumatic four-point positioning robotic arm gripper includes a four-jaw cylinder and four gripper blocks. Each of the four mounting blocks in the four-jaw cylinder has a gripper block mounted on one of its four mounting blocks. One side of the base plate of each gripper block has a vertical plate, and the base plate and vertical plate are arranged in an L-shape. The upper surface of the vertical plate has a notch, which extends to both sides of the vertical plate and extends outwards to the outer surface of the vertical plate. The upper surface of the base plate has a through hole, which passes through both the upper and lower surfaces of the base plate. The gripper blocks are fixed to the mounting blocks by bolts after the through holes align with the threaded holes on the corresponding mounting blocks.

[0011] Compared with the prior art, this utility model has two advantages: first, it is a pneumatic four-point positioning robotic arm gripper that can not only accurately pick up and place cylindrical or cuboid workpieces, but also apply an effective holding force to the cylindrical or cuboid workpieces; second, the cylindrical workpiece held by the pneumatic four-point positioning robotic arm gripper is not easily deformed on all four sides due to gripping. Attached Figure Description

[0012] Figure 1 This is a top view schematic diagram of an existing pneumatic gripper.

[0013] Figure 2 This is a top view schematic diagram of a pneumatic four-point positioning robotic arm gripper.

[0014] Figure 3 This is a schematic diagram of the three-dimensional structure of the claw block in the forward view.

[0015] Figure 4 This is a schematic diagram of the three-dimensional structure of the claw block in rear view. Detailed Implementation

[0016] Example 1: Refer to Appendix Figures 2-4 A pneumatic four-point positioning robotic arm gripper includes a four-jaw cylinder 1 and four gripper blocks 2. Each gripper block 2 is mounted on one of the four mounting blocks 11 within the four-jaw cylinder 1. A vertical plate 22 is provided on one side of the base plate 21 of each gripper block 2, and the base plate 21 and the vertical plate 22 are arranged in an L-shape. A notch 23 is provided on the upper surface of the vertical plate 22, extending to both sides and outwards to the outer surface of the vertical plate 22. A through hole 24 is provided on the upper surface of the base plate 21, penetrating both the upper and lower end faces of the base plate 21. Each gripper block 2 is fixed to the mounting block 11 by bolts 3 after the through hole 24 aligns with the threaded hole on the corresponding mounting block 11. The base plate 21 and the vertical plate 22 are made of the same piece of stainless steel.

[0017] The inner surface of the notch 23 is a first arc-shaped surface 25. The outer surface of the vertical plate 22 is a second arc-shaped surface 26. The upper end face of the base plate 21 is provided with two through holes 21. The inner surface of the vertical plate 22 is provided with an arc-shaped clearance groove 27, which extends upward through the upper end face of the vertical plate 22 and downward to the upper end face of the base plate 21. The four-jaw cylinder 1 is model MHS4-32D.

[0018] After a pneumatic four-point positioning robotic arm gripper, in conjunction with a robotic arm, places a cylindrical or cuboid workpiece into a predetermined position, the gripper can also apply an effective holding force to the workpiece. Thus, when picking up and installing workpieces (such as cylindrical LED lens lamps), only one robotic arm equipped with a pneumatic four-point positioning robotic arm gripper is needed to complete the task. For example, when a robotic arm equipped with a pneumatic four-point positioning robotic arm gripper clamps a cylindrical LED lens lamp onto the corresponding LED lens lamp mounting component... After an adhesive layer is pre-applied to the LED lens light mounting component, the robotic arm applies an effective holding force to the component by pressing down on a pneumatic four-point positioning gripper. This achieves the bonding and assembly of the LED lens light mounting component and the cylindrical LED lens light in one step, which not only improves the assembly efficiency but also reduces the assembly cost. In addition, the simultaneous positioning and gripping of the workpiece by the four grippers improves the accuracy of workpiece handling.

[0019] Example 2: Based on Example 1. The upper end of the vertical plate 22 is fitted with a rubber sleeve or a silicone sleeve. The rubber sleeve or silicone sleeve is a prior art product. At the same time, by using the rubber sleeve or silicone sleeve, the clamped workpiece is prevented from being scratched. This is also prior art, so it will not be described further here.

[0020] It should be understood that although the above embodiments provide a relatively detailed textual description of the design concept of this utility model, these textual descriptions are merely simple textual descriptions of the design concept of this utility model, and not limitations on the design concept of this utility model. Any combination, addition, or modification that does not exceed the design concept of this utility model shall fall within the protection scope of this utility model.

Claims

1. A pneumatic four-position mechanical arm gripper, comprising a four-gripper cylinder (1) and four gripper blocks (2), four mounting blocks (11) in the four-gripper cylinder (1) respectively mounting a gripper block (2), characterized in that: The bottom plate (21) in the claw block (2) is provided with a vertical plate (22) on one side, and the bottom plate (21) and the vertical plate (22) are arranged in an L shape, the upper end surface of the vertical plate (22) is provided with a notch groove (23), the notch groove (23) extends through the two side surfaces of the vertical plate (22) to the two sides, and the notch groove (23) extends through the outer side surface of the vertical plate (22) to the outside, the upper end surface of the bottom plate (21) is provided with a through hole (24), and the through hole (24) penetrates the upper and lower end surfaces of the bottom plate (21); the claw block (2) is fixedly installed on the mounting block (11) through the bolt (3) after the through hole (24) is matched with the threaded hole on the corresponding mounting block (11); the bottom plate (21) and the vertical plate (22) are made of the same piece of stainless steel; after a mechanical arm provided with a pneumatic four-position locating mechanical arm clamp is used to clamp a cylindrical LED lens lamp on the corresponding LED lens lamp mounting piece, the mechanical arm can exert an effective pressing force on the LED lens lamp mounting piece by pressing the pneumatic four-position locating mechanical arm clamp, and one-step adhesion assembly of the LED lens lamp mounting piece and the cylindrical LED lens lamp is realized.

2. The pneumatic four-point positioning mechanical arm gripper according to claim 1, characterized in that: The inner side surface of the notch groove (23) is a first arc surface (25).

3. The pneumatic four-point positioning mechanical arm gripper according to claim 1 or 2, characterized in that: The outer side surface of the vertical plate (22) is a second arc surface (26).

4. The pneumatic four-point positioning mechanical arm gripper according to claim 1 or 2, characterized in that: The upper end surface of the bottom plate (21) is provided with two through holes (21), the inner side surface of the vertical plate (22) is provided with an arc avoiding groove (27), the arc avoiding groove (27) extends upward through the upper end surface of the vertical plate (22), and the arc avoiding groove (27) extends downward to the upper end surface of the bottom plate (21).

5. The four-point positioning mechanical arm gripper according to claim 1, characterized in that: The model of the four-claw cylinder (1) is MHS4-32D.

6. The pneumatic four-point positioning mechanical arm gripper according to claim 1, characterized in that: The upper end of the vertical plate (22) is sleeved with a rubber sleeve or a silica gel sleeve.

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