Pneumatic manipulator clamping jaw

Abstract

The utility model discloses a pneumatic manipulator clamping jaw, which relates to the technical field of clamping and comprises a supporting box, a pneumatic component and a clamping component are respectively arranged in the supporting box, and the pneumatic component comprises an air pressure box, a valve block, a threaded rod, a piston plate, a first air cavity, a second air cavity and an air guide hole. The air pressure adjusting device has the advantages that the threaded rod is driven by the first servo motor, movement of the piston plate in the air pressure box can be accurately controlled, the air pressure of the first air cavity and the air pressure of the second air cavity can be accurately adjusted, the air pressure adjusting effect is good, and the air pressure adjusting effect is good. The telescopic degree of the telescopic pipe is accurately controlled, the opening and closing actions of the clamping blocks are accurate, the clamping operation of objects with different precision requirements can be met, the angle and the distance between the clamping blocks can be flexibly changed in cooperation with stretching and retracting of the telescopic pipe, the clamping jaw can adapt to clamping of objects of various irregular shapes, and the universality of the clamping jaw is improved.

Description

Technical Field

[0001] This utility model relates to the field of clamping technology, specifically a pneumatic robotic gripper. Background Technology

[0002] Pneumatic fingers, also known as pneumatic grippers or pneumatic cleavers, are actuators that use compressed air as power to grip or grasp workpieces. They are usually divided into Y-type grippers and flat grippers according to their style. The cylinder diameter is divided into several types, such as 16mm, 20mm, 25mm, 32mm and 40mm. Their main function is to replace human gripping work, which can effectively improve production efficiency and work safety.

[0003] The shape of the gripper in existing devices cannot be changed. For objects of various sizes and shapes, there may be situations where the gripper cannot hold them tightly or accurately. To address this, we propose a pneumatic robotic gripper. Utility Model Content

[0004] The purpose of this utility model is to provide a pneumatic robotic gripper.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a pneumatic manipulator gripper, comprising a support box, wherein a pneumatic component and a gripping component are respectively disposed inside the support box;

[0006] The pneumatic assembly includes a pressure box, a valve block, a threaded rod, a piston plate, a first air chamber, a second air chamber, and an air guide hole. The surface of the threaded rod is rotatably connected to the inner wall of the pressure box, the side of the piston plate is slidably connected to the inner wall of the pressure box, and the surface of the threaded rod is threadedly connected to the inner wall of the piston plate. The first and second air chambers are both located inside the pressure box. The side of the valve block is slidably connected to the inner wall of the pressure box, and the air guide hole is located on the inner wall of the pressure box. The inner wall of the pressure box communicates with the first and second air chambers through the air guide hole.

[0007] The clamping assembly includes a bidirectional lead screw, a slider, clamping blocks, and a telescopic tube. The two ends of the bidirectional lead screw are rotatably connected to the inner wall of the support box. The sides of the two sliders are rotatably connected to two sets of clamping blocks. Each set of clamping blocks contains six blocks, one of which is rotatably connected to the slider, and the remaining clamping blocks are rotatably connected in pairs. Each pair of clamping blocks is connected to both ends of the telescopic tube.

[0008] As a further embodiment of this utility model: a second servo motor is connected to the side of the support box, and the output end of the second servo motor passes through the inner wall of the support box and is connected to one end of a bidirectional lead screw.

[0009] As a further embodiment of this utility model: a first servo motor is connected to the side of the air pressure box, and the output end of the first servo motor passes through the inner wall of the air pressure box and is connected to the left end of the threaded rod.

[0010] As a further embodiment of this utility model: the side wall of the pressure box is connected to the side of the support box, and the shape of the side of the piston plate matches the shape of the inner wall of the pressure box.

[0011] As a further embodiment of this utility model: the side of the valve block is threadedly connected to the inner wall of the air pressure box, and a knob is connected to one end of the valve block.

[0012] As a further embodiment of this utility model: a connecting pipe is connected to the side of the slider, one end of the connecting pipe passes through the side of the slider and is connected to the inside of the telescopic tube, and the connecting pipe is connected to the first air chamber and the second air chamber respectively through the air guide pipe.

[0013] As a further embodiment of this utility model: the side of the slider is slidably connected to the inner wall of the support box, and the inner walls of both sliders are threadedly connected to the surface of the bidirectional lead screw.

[0014] Compared with the prior art, the beneficial effects of this utility model by adopting the above technical solution are as follows:

[0015] 1. This utility model uses a first servo motor to drive a threaded rod, which can precisely control the movement of the piston plate in the air pressure box and accurately adjust the air pressure of the first and second air chambers, thereby achieving precise control over the extension and retraction of the telescopic tube. This makes the opening and closing action of the clamping block precise, which can meet the clamping operation of objects with different precision requirements. In conjunction with the extension and retraction of the telescopic tube, the angle and spacing between the clamping blocks can be flexibly changed, which can adapt to the clamping of objects with various irregular shapes and improve the versatility of the gripper.

[0016] 2. This utility model uses a valve block connected to a knob. By rotating the knob, the position of the valve block on the inner wall of the air pressure box can be easily controlled, thereby controlling the opening and closing of the first and second air chambers and adjusting the airflow and air pressure between the two air chambers. The operation is simple and intuitive, making it easy for operators to quickly adjust the clamping force of the grippers according to actual needs.

[0017] Other advantages, objectives and features of this invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be taught from the practice of this invention. Attached Figure Description

[0018] Figure 1 This is an overall schematic diagram of an embodiment of the present utility model;

[0019] Figure 2This is a schematic diagram of the slider in an embodiment of the present utility model;

[0020] Figure 3 This is a schematic diagram of the connecting pipe in an embodiment of the present utility model;

[0021] Figure 4 This is a schematic diagram of the telescopic tube in an embodiment of this utility model;

[0022] Figure 5 This is a schematic diagram of the air pressure box in an embodiment of the present utility model;

[0023] Figure 6 This is a schematic diagram of the first air chamber in an embodiment of the present invention;

[0024] Figure 7 This is a schematic diagram of the air guide hole in an embodiment of this utility model;

[0025] Figure 8 This is a schematic diagram of the valve block in an embodiment of the present invention.

[0026] In the diagram: 1. Support box; 2. Pneumatic assembly; 21. Air pressure box; 22. First servo motor; 23. Knob; 24. Valve block; 25. Threaded rod; 26. Piston plate; 27. First air chamber; 28. Second air chamber; 29. ​​Air guide hole; 3. Clamping assembly; 31. Second servo motor; 32. Bidirectional lead screw; 33. Slider; 34. Clamping block; 35. Telescopic tube; 36. Connecting tube. Detailed Implementation

[0027] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. It should be noted that the description of these embodiments is for the purpose of helping to understand this utility model, but does not constitute a limitation on this utility model.

[0028] Furthermore, the technical features involved in the various embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0029] Please see the appendix Figure 1 -Appendix Figure 8 The present invention relates to a pneumatic robotic gripper, comprising a support box 1, wherein a pneumatic component 2 and a gripping component 3 are respectively disposed inside the support box 1;

[0030] The pneumatic assembly 2 includes a pressure box 21, a valve block 24, a threaded rod 25, a piston plate 26, a first air chamber 27, a second air chamber 28, and an air guide hole 29. The surface of the threaded rod 25 is rotatably connected to the inner wall of the pressure box 21. The side of the piston plate 26 is slidably connected to the inner wall of the pressure box 21. The surface of the threaded rod 25 is threadedly connected to the inner wall of the piston plate 26. The first air chamber 27 and the second air chamber 28 are both located inside the pressure box 21. The side of the valve block 24 is slidably connected to the inner wall of the pressure box 21. The air guide hole 29 is located on the inner wall of the pressure box 21. The inner wall of the pressure box 21 is connected to the first air chamber 27 and the second air chamber 28 through the air guide hole 29. The side wall of the pressure box 21 is connected to the side of the support box 1. The shape of the side of the piston plate 26 matches the shape of the inner wall of the pressure box 21. The side of the valve block 24 is threadedly connected to the inner wall of the pressure box 21. A knob 23 is connected to one end of the valve block 24.

[0031] The clamping assembly 3 includes a bidirectional lead screw 32, a slider 33, clamping blocks 34, and a telescopic tube 35. The two ends of the bidirectional lead screw 32 are rotatably connected to the inner wall of the support box 1. The sides of the two sliders 33 are rotatably connected to two sets of clamping blocks 34. Each set of clamping blocks 34 consists of six blocks. One clamping block 34 is rotatably connected to the slider 33, and the remaining clamping blocks 34 are rotatably connected to each other in pairs. Each pair of clamping blocks 34 is connected to both ends of the telescopic tube 35. A connecting tube 36 is connected to the side of the slider 33. One end of the connecting tube 36 passes through the side of the slider 33 and communicates with the inside of the telescopic tube 35. The connecting tube 36 is connected to the first air chamber 27 and the second air chamber 28 through the air guide tube. The side of the slider 33 is slidably connected to the inner wall of the support box 1. The inner walls of the two sliders 33 are threadedly connected to the surface of the bidirectional lead screw 32.

[0032] In the first embodiment, a second servo motor 31 is connected to the side of the support box 1. The output end of the second servo motor 31 passes through the inner wall of the support box 1 and is connected to one end of the bidirectional lead screw 32.

[0033] Specifically, the second servo motor 31 provides power for the rotation of the bidirectional lead screw 32, controls the rotation direction and speed of the bidirectional lead screw 32, thereby precisely controlling the movement of the slider 33 and the opening and closing degree of the clamping block 34.

[0034] In embodiment 2, a first servo motor 22 is connected to the side of the air pressure box 21, and the output end of the first servo motor 22 passes through the inner wall of the air pressure box 21 and is connected to the left end of the threaded rod 25.

[0035] Specifically, the first servo motor 22 provides power for the rotation of the threaded rod 25. By controlling the forward and reverse rotation and speed of the motor, the position of the piston plate 26 is precisely adjusted, thereby controlling the air pressure of the first air chamber 27 and the second air chamber 28.

[0036] Working principle:

[0037] First, the first servo motor 22 starts, and its output drives the threaded rod 25 to rotate. Since the threaded rod 25 is threadedly connected to the piston plate 26, and the piston plate 26 is slidably connected to the inner wall of the pressure box 21, the rotation of the threaded rod 25 is converted into the linear motion of the piston plate 26 in the pressure box 21. The movement of the piston plate 26 changes the air pressure of the first air chamber 27 and the second air chamber 28. Rotating the knob 23 drives the valve block 24 to rotate threadedly on the inner wall of the pressure box 21, which can control the opening and closing of the first air chamber 27 and the second air chamber 28, and adjust the airflow and air pressure between the two air chambers. When the valve block 24 closes the first air chamber 27 and opens the second air chamber 28, the air pressure is transmitted to the telescopic tube 35 inside and outside the clamping block 34 through the air guide tube. The extension of the telescopic tube 35 can drive the clamping block 34 to rotate relative to clamp the object.

[0038] The second servo motor 31 starts, and its output drives the bidirectional lead screw 32 to rotate. The bidirectional lead screw 32 is threadedly connected to two sliders 33, and the sliders 33 are slidably connected to the inner wall of the support box 1. Therefore, the rotation of the bidirectional lead screw 32 causes the two sliders 33 to move relative to or away from each other in the support box 1, which drives the clamping blocks 34 to open and close. Each group of six clamping blocks 34 changes their angle and spacing under the action of the telescopic tube 35 to achieve stable clamping of objects of different shapes and sizes. At this point, the entire workflow is completed.

[0039] The terms "front," "back," "left," "right," "top," and "bottom" all refer to the figures in the accompanying drawings. Figure 1 Based on.

[0040] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this utility model.

[0041] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments.

[0042] For those skilled in the art, various changes, modifications, substitutions, and alterations to these embodiments without departing from the principles and spirit of this utility model will still fall within the protection scope of this utility model.

Claims

1. A pneumatic mechanical hand gripper comprising a support box (1), characterized in that: The inner part of the support box (1) is respectively provided with a pneumatic assembly (2) and a clamping assembly (3); The pneumatic assembly (2) comprises a gas pressure box (21), a valve block (24), a threaded rod (25), a piston plate (26), a first gas cavity (27), a second gas cavity (28) and a gas guide hole (29), the surface of the threaded rod (25) is rotationally connected to the inner wall of the gas pressure box (21), the side of the piston plate (26) is slidingly connected to the inner wall of the gas pressure box (21), the surface of the threaded rod (25) is threadedly connected to the inner wall of the piston plate (26), the first gas cavity (27) and the second gas cavity (28) are both formed in the interior of the gas pressure box (21), the side of the valve block (24) is slidingly connected to the inner wall of the gas pressure box (21), the gas guide hole (29) is formed in the inner wall of the gas pressure box (21), and the inner wall of the gas pressure box (21) is connected in communication with the first gas cavity (27) and the second gas cavity (28) through the gas guide hole (29). The clamping assembly (3) comprises a bidirectional screw rod (32), a sliding block (33), a clamping block (34) and a telescopic pipe (35), both ends of the bidirectional screw rod (32) are rotationally connected to the inner wall of the support box (1), the sides of the two sliding blocks (33) are rotationally connected to two groups of clamping blocks (34), the number of clamping blocks (34) in each group is six, one of the clamping blocks (34) is rotationally connected to the sliding block (33), and the remaining clamping blocks (34) are rotationally connected to each other, and the two clamping blocks (34) are connected to both ends of the telescopic pipe (35).

2. A pneumatic manipulator gripper according to claim 1, characterized in that: The side of the support box (1) is connected with a second servo motor (31), and the output end of the second servo motor (31) penetrates the inner wall of the support box (1) and is connected to one end of the bidirectional screw rod (32).

3. The pneumatic mechanical hand gripper according to claim 1, wherein: The side of the gas pressure box (21) is connected with a first servo motor (22), and the output end of the first servo motor (22) penetrates the inner wall of the gas pressure box (21) and is connected to the left end of the threaded rod (25).

4. The pneumatic manipulator gripper according to claim 1, wherein: The side wall of the gas pressure box (21) is connected to the side of the support box (1), and the shape of the side of the piston plate (26) matches the shape of the inner wall of the gas pressure box (21).

5. The pneumatic mechanical hand gripper according to claim 1, wherein: The side of the valve block (24) is threadedly connected to the inner wall of the gas pressure box (21), and one end of the valve block (24) is connected with a knob (23).

6. The pneumatic mechanical hand gripper according to claim 1, wherein: The side of the sliding block (33) is connected with a connecting pipe (36), one end of the connecting pipe (36) penetrates the side of the sliding block (33) and is connected in communication with the telescopic pipe (35), and the connecting pipe (36) is connected in communication with the first gas cavity (27) and the second gas cavity (28) through a gas guide pipe.

7. The pneumatic mechanical hand gripper according to claim 1, wherein: The side of the sliding block (33) is slidingly connected to the inner wall of the support box (1), and the inner walls of the two sliding blocks (33) are threadedly connected to the surface of the bidirectional screw rod (32).

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