Pneumatic claw with anti-skid structure

Abstract

The utility model relates to the technical field of pneumatic claws, and discloses a pneumatic claw with an antiskid structure, which comprises a bottom plate, a multi-shaft mechanical arm fixing end is fixedly mounted at the top of the bottom plate, and a clamping component is arranged on a multi-shaft mechanical arm. According to the pneumatic claw with the anti-skid structure, in order to improve the practicability and adaptability of the clamping claw body, the clamping assembly is arranged, firstly, a bottom plate and a multi-axis mechanical arm are matched to enable an asynchronous motor to move flexibly in a multi-axis mode, when the asynchronous motor is started, a rotating plate can rotate, and when the asynchronous motor is started, a fixing frame can rotate; the clamping jaw bodies are matched with the asynchronous motors, the rotating shafts and the clamping plates to enable the clamping jaws to be close to each other to clamp square or large-size workpieces, the air cylinders are matched to enable the push rods to move, the hinge blocks and the hinge rods are matched to enable the multiple sets of clamping blocks to move synchronously, therefore, the cylindrical or small-size workpieces can be clamped, and then the practicability and adaptability of the clamping jaw bodies can be improved.

Description

Technical Field

[0001] This utility model relates to the field of pneumatic gripper technology, specifically a pneumatic gripper with an anti-slip structure. Background Technology

[0002] In the field of automation equipment, mechanical pneumatic grippers serve as important end-effectors for gripping and transporting workpieces. Due to their compact structure, high repeatability, and strong load capacity, they are widely used in various production scenarios.

[0003] In existing technologies, some pneumatic grippers exhibit numerous shortcomings when dealing with workpieces of varying sizes and irregular shapes (such as cylindrical or square). When gripping workpieces with relatively smooth surfaces, the contact area between the inner wall of the gripper and the workpiece is too small. Furthermore, if the inner wall of the gripper itself is also smooth, insufficient friction will result in the workpiece easily slipping off, leading to gripping failure. When dealing with cylindrical workpieces, conventional pneumatic grippers struggle to maintain a stable fit from all angles, have limited gripping points, and cannot provide sufficient holding force, making it easy for the workpiece to roll or fall off during handling. Overall, the practicality and adaptability need to be improved.

[0004] In view of this, we propose a pneumatic gripper with an anti-slip structure. Utility Model Content

[0005] The purpose of this invention is to provide a pneumatic gripper with an anti-slip structure to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A pneumatic gripper with an anti-slip structure includes a base plate, on the top of which a multi-axis robotic arm fixing end is fixedly mounted. The multi-axis robotic arm is equipped with a gripping assembly, which includes:

[0008] An asynchronous motor is fixedly installed on the moving end of the multi-axis robotic arm. The output end of the asynchronous motor is fixedly installed on the outer wall of the center of one side of the rotating plate. An asynchronous motor is fixedly installed on one end of the other side of the rotating plate. A fixed frame is fixedly installed on the output end of the asynchronous motor. An asynchronous motor is fixedly installed on the fixed frame. A rotating shaft is fixedly installed on the output end of the asynchronous motor. Both ends of the rotating shaft are rotatably installed inside the fixed frame through bearing components.

[0009] A clamping plate is fixedly installed on one end of the outer wall of the rotating shaft, and a clamping claw is fixedly installed on the other end of the clamping plate;

[0010] A cylinder is provided, with a cylinder fixed end fixedly installed on the other side of the rotating plate. A vertical frame is fixedly installed on the outer wall of the cylinder. A push rod is sleeved inside the vertical frame. One end of the push rod is fixedly installed on the piston end of the cylinder. A slider is fixedly installed on the other end of the push rod. The slider is slidably installed on the vertical frame. A hinge block is hingedly installed on the other end of the vertical frame. One end of a hinge rod is hingedly installed on the hinge block. The other end of the hinge rod is hingedly installed on the slider. A clamping block is fixedly installed on the outer wall of the hinge block.

[0011] In a further embodiment, the asynchronous motor, rotating shaft, and clamping plate are provided in two sets, and both sets of the asynchronous motor, rotating shaft, and clamping plate are mirror images of each other at both ends of the fixed frame, with the vertical center line of the fixed frame as the mirror axis.

[0012] In a further embodiment, the clamps on a single clamping plate are provided in multiple sets, and the multiple sets of clamps are arranged in a linear array with equal spacing, thereby enabling the clamping of square or large-volume workpieces.

[0013] In a further embodiment, multiple sets of hinge blocks, hinge rods, and clamping blocks are provided, and the multiple sets of hinge blocks, hinge rods, and clamping blocks are arranged in an equally spaced circular array with the center of the circular cross-section of the push rod as the array center, thereby enabling the clamping of cylindrical or small workpieces.

[0014] In a further embodiment, an anti-slip component is provided on the outside of the rotating plate. The anti-slip component includes an electric cylinder. The electric cylinder is fixedly installed on the inner wall of the fixing frame, and a rubber plate is fixedly installed on the piston end of the electric cylinder to increase friction and make the workpiece more stable.

[0015] In a further embodiment, the electric cylinder and rubber plate are provided in two sets.

[0016] In a further embodiment, a rubber strip is fixedly installed on the side of the clamping block facing the center of the vertical frame. Multiple sets of the rubber strip are provided to increase friction and make the workpiece more stable.

[0017] Compared with the prior art, this utility model provides a pneumatic gripper with an anti-slip structure, which has the following beneficial effects:

[0018] 1. This pneumatic gripper with an anti-slip structure improves the practicality and adaptability of the gripper body by setting up a clamping assembly. First, in conjunction with the base plate and multi-axis robotic arm, the asynchronous motor can move flexibly in multiple axes. When the asynchronous motor is started, the rotating plate can rotate. When the asynchronous motor is started, the fixed frame can rotate. When the asynchronous motor is started, the two sets of rotating shafts drive the clamping plates to move towards each other, so that the grippers can move closer together to clamp square or large workpieces. When the cylinder is started, the push rod moves, which causes the slider to move up and down. In conjunction with the hinge block and hinge rod, multiple sets of clamping blocks move synchronously, so that cylindrical or small workpieces can be clamped, thereby improving the practicality and adaptability of the gripper body.

[0019] 2. The pneumatic gripper with anti-slip structure is designed to make the gripper body more slip-resistant when holding the workpiece. After the gripper grips the workpiece, the electric cylinder is activated, causing the rubber plate to move closer to the workpiece. By increasing the contact point, the friction is increased, making the workpiece more stable. When the clamping block grips the workpiece, rubber strips are provided on the clamping block, which also increases the friction and makes the workpiece more stable. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the overall structure of the present invention from another perspective;

[0022] Figure 3 This is a schematic diagram of the asynchronous motor and some structural connections of this utility model;

[0023] Figure 4 This is a schematic diagram of the cylinder and some structural connections of this utility model.

[0024] Explanation of icon numbers:

[0025] 1. Base plate; 2. Multi-axis robotic arm;

[0026] 3. Clamping assembly; 31. Asynchronous motor; 32. Rotating plate; 33. Asynchronous motor; 34. Fixing frame; 35. Asynchronous motor; 36. Rotating shaft; 37. Clamping plate; 38. Gripper; 39. Cylinder; 310. Vertical frame; 311. Push rod; 312. Slider; 313. Hinge block; 314. Hinge rod; 315. Clamping block;

[0027] 4. Anti-slip components; 41. Electric cylinder; 42. Rubber plate; 43. Rubber strip. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0029] In this application, the term "above" indicates the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is primarily used to better describe this application and its embodiments, and is not intended to limit the indicated device, element, or component to having a specific orientation, or to construct and operate in a specific orientation. Furthermore, the term "above" may also be used in certain circumstances to indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances.

[0030] Please see Figures 1-4 This utility model provides a technical solution:

[0031] A pneumatic gripper with an anti-slip structure includes a base plate 1, and a fixed end of a multi-axis robotic arm 2 is fixedly mounted on the top of the base plate 1.

[0032] In one embodiment of this utility model, a clamping assembly 3 is provided on the multi-axis robotic arm 2. The clamping assembly 3 includes an asynchronous motor 31. The asynchronous motor 31 is fixedly installed on the moving end of the multi-axis robotic arm 2. The output end of the asynchronous motor 31 is fixedly installed on the outer wall of the center of one side of the rotating plate 32. An asynchronous motor 33 is fixedly installed on one end of the other side of the rotating plate 32. A fixed frame 34 is fixedly installed on the output end of the asynchronous motor 33. An asynchronous motor 35 is fixedly installed on the fixed frame 34. A rotating shaft 36 is fixedly installed on the output end of the asynchronous motor 35. Both ends of the rotating shaft 36 are rotatably installed inside the fixed frame 34 through bearing components. One end of a clamping plate 37 is fixedly installed on the outer wall of the rotating shaft 36. In addition, there are two sets of asynchronous motors 35, rotating shafts 36 and clamping plates 37. The two sets of asynchronous motors 35, rotating shafts 36 and clamping plates 37 are mirror images of the vertical center line of the fixed frame 34 and are mirror images of the two ends of the fixed frame 34. A gripper 38 is fixedly installed on the other end of the clamping plate 37. In addition, the gripper 38 on each set of clamping plates 37 is provided with The rotating plate 32 has multiple sets of equally spaced, linearly arrayed grippers 38, enabling it to clamp square or large workpieces. A cylinder 39 is fixedly mounted on the other end of the rotating plate 32. A vertical frame 310 is fixedly mounted on the outer wall of the cylinder 39. A push rod 311 is sleeved inside the vertical frame 310. One end of the push rod 311 is fixedly mounted to the piston end of the cylinder 39, and a slider 312 is fixedly mounted on the other end of the push rod 311. The slider 312 is slidably mounted on the vertical frame 310. A hinge is hinged to the other end of the vertical frame 310. The hinge block 313 has one end of a hinge rod 314 hinged to it, and the other end of the hinge rod 314 is hinged to the slider 312. A clamping block 315 is fixedly installed on the outer wall of the hinge block 313. In addition, there are three sets of hinge blocks 313, hinge rods 314 and clamping blocks 315. The three sets of hinge blocks 313, hinge rods 314 and clamping blocks 315 are all arranged in a circumferential array with the center of the circular cross section of the push rod 311 as the array center, so as to clamp cylindrical or small workpieces.

[0033] In this embodiment, the base plate 1 serves as a supporting foundation. The operator controls the movement of the multi-axis robotic arm 2 via a controller. The moving end of the multi-axis robotic arm 2 carries the gripping component 3, which flexibly adjusts to the appropriate position and angle of the workpiece to be gripped according to a preset path or the operator's instructions, ensuring that the gripper accurately aligns with the workpiece and prepares for subsequent gripping operations. Once the gripper body reaches the appropriate position, the controller sends a command to start the asynchronous motor 31. After the asynchronous motor 31 is powered on, it begins to run, and its output end generates rotational power, driving the rotating plate 32, which is fixedly connected to it, to rotate around the output end of the asynchronous motor 31, thereby further adjusting the position and orientation of the gripper 38 to better align it with square or large-volume workpieces. Next, the controller starts the asynchronous motor 33, and the rotational power of its output end is transmitted to the fixed frame 34, causing the fixed frame 34 to rotate around the output end of the asynchronous motor 33, further fine-tuning the posture of the gripper 38 to ensure that the gripper 38 can approach the workpiece at the optimal angle. Finally, the controller starts the asynchronous motor 35, and both sets of asynchronous motors 35 are powered on and run simultaneously, their output... The rotating shafts 36 connected to each other rotate at their respective ends. Since the two ends of the rotating shafts 36 are rotatably mounted inside the fixed frame 34 through bearing components, and one end of the clamping plate 37 is fixedly mounted on the outer wall of the rotating shaft 36, the rotation of the rotating shaft 36 will cause the clamping plate 37 to move in a circular motion around the axis of the rotating shaft 36. The two sets of clamping plates 37 move towards each other, causing the grippers 38 fixedly mounted on the other end of the clamping plate 37 to move closer to each other, ultimately achieving effective clamping of square or large workpieces. When it is necessary to clamp cylindrical or small workpieces, the controller starts the cylinder 39, and the cylinder 39 is energized. After operation, the piston end causes the push rod 311 to start moving. The rotation of the push rod 311 causes the slider 312 to move up and down along the axis of the push rod 311. When the slider 312 moves up and down, it drives the hinge block 313, which is hinged to it, to move through the hinge rod 314. Since there are three sets of hinge blocks 313, hinge rods 314 and clamping blocks 315, the three sets of clamping blocks 315 will move synchronously towards or away from the center of the push rod 311, ultimately realizing the clamping of cylindrical or small workpieces, improving the adaptability to workpieces of different shapes and sizes.

[0034] In one embodiment of this utility model, an anti-slip component 4 is provided on the outside of the rotating plate 32. The anti-slip component 4 includes an electric cylinder 41. The electric cylinder 41 is fixedly installed on the inner wall of the fixing frame 34. A rubber plate 42 is fixedly installed on the piston end of the electric cylinder 41 to increase friction and make the workpiece more stable. In addition, there are two sets of electric cylinder 41 and rubber plate 42. In addition, a rubber strip 43 is fixedly installed on the side of the clamping block 315 facing the center of the vertical frame 310. There are three sets of rubber strips 43 to increase friction and make the workpiece more stable.

[0035] In this embodiment, after the gripper 38 successfully clamps the workpiece, the controller activates the electric cylinder 41 in the anti-slip assembly 4. After the electric cylinder 41 is energized, its piston end extends, driving the rubber plate 42 fixedly connected to it to move closer to the workpiece surface. After the rubber plate 42 contacts the workpiece surface, it increases the contact points between the workpiece and the rubber plate 42, thereby increasing the friction force and making the workpiece more stable during the clamping process and less likely to slip. When the clamping block 315 clamps the workpiece, the rubber strip 43 fixedly installed on the side of the clamping block 315 facing the center of the vertical frame 310 contacts the workpiece surface. The rubber strip 43 has a certain elasticity and coefficient of friction, which can effectively increase the friction force between the clamping block 315 and the workpiece, further improving the clamping stability of the pneumatic gripper on the workpiece and ensuring that the workpiece remains stable throughout the entire operation.

[0036] All electrical components appearing in this application are electrically connected to the controller and 220V AC mains power. The controller is a conventional known device that can control the multi-axis robotic arm 2, asynchronous motor 31, asynchronous motor 33, asynchronous electric motor 35, cylinder 39, and electric cylinder 41. All standard parts used in this application can be purchased from the market, and the machinery, parts, and equipment all adopt conventional models in the prior art. In addition, the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0037] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.

Claims

1. A gas claw with an anti-skid structure, comprising a bottom plate (1), a fixed end of a multi-axis mechanical arm (2) being fixedly installed on the top of the bottom plate (1), characterized in that: The multi-axis mechanical arm (2) is provided with a clamping assembly (3), and the clamping assembly (3) comprises: An asynchronous motor (31) is fixedly installed at the moving end of the multi-axis mechanical arm (2), an output end of the asynchronous motor (31) is fixedly installed with a center outer wall of one side of a rotating plate (32), one end of the other side of the rotating plate (32) is fixedly installed with an asynchronous motor (33), an output end of the asynchronous motor (33) is fixedly installed with a fixed frame (34), the fixed frame (34) is fixedly installed with an asynchronous motor (35), an output end of the asynchronous motor (35) is fixedly installed with a rotating shaft (36), both ends of the rotating shaft (36) are rotatably installed in the fixed frame (34) through bearing pieces; A clamping plate (37) is fixedly installed at one end of the outer wall of the rotating shaft (36), and the other end of the clamping plate (37) is fixedly installed with a clamping jaw (38); A cylinder (39) is fixedly installed at the other end of the other side of the rotating plate (32), an outer wall of the cylinder (39) is fixedly installed with one end of a vertical frame (310), a push rod (311) is sleeved in the vertical frame (310), one end of the push rod (311) is fixedly installed at the piston end of the cylinder (39), the other end of the push rod (311) is fixedly installed with a sliding block (312), the sliding block (312) is slidingly installed on the vertical frame (310), the other end of the vertical frame (310) is hingedly installed with a hinge block (313), one end of the hinge block (313) is hingedly installed with a hinge rod (314), the other end of the hinge rod (314) is hingedly installed on the sliding block (312), and the outer wall of the hinge block (313) is fixedly installed with a clamping block (315).

2. The gaspaw with anti-skid structure according to claim 1, characterized in that: The asynchronous motor (35), the rotating shaft (36) and the clamping plate (37) are provided with two groups, and the two groups of the asynchronous motor (35), the rotating shaft (36) and the clamping plate (37) are mirror images arranged on both ends of the fixed frame (34) with the vertical center line of the fixed frame (34) as the mirror axis.

3. The gaspaw with anti-skid structure according to claim 2, characterized in that: The clamping jaws (38) on the single group of clamping plates (37) are provided with multiple groups, and the multiple groups of clamping jaws (38) are linearly arrayed at equal intervals.

4. The air gripper with anti-skid structure according to claim 1, characterized in that: The hinge block (313), the hinge rod (314) and the clamping block (315) are provided with multiple groups, and the multiple groups of the hinge block (313), the hinge rod (314) and the clamping block (315) are circularly arrayed at equal intervals with the center of the circular cross section of the push rod (311) as the array center.

5. The air gripper with anti-skid structure according to claim 1, characterized in that: An anti-skid assembly (4) is arranged outside the rotating plate (32), and the anti-skid assembly (4) comprises an electric cylinder (41), the inner wall of the fixed frame (34) is fixedly installed with the electric cylinder (41), and the piston end of the electric cylinder (41) is fixedly installed with a rubber plate (42).

6. The gaspaw with anti-skid structure according to claim 5, characterized in that: The electric cylinder (41) and the rubber plate (42) are provided with two groups.

7. The gaspaw with anti-skid structure according to claim 6, characterized in that: The clamping block (315) is fixedly installed with a rubber strip (43) on one side facing the center of the vertical frame (310), and the rubber strip (43) is provided with multiple groups.

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