Manipulator pneumatic clamp device

Abstract

The utility model discloses a manipulator pneumatic clamp device which comprises a clamp shell, guide openings are formed in the two sides of the clamp shell, and two driving clamping claws are arranged on the inner walls of the guide openings in a sliding fit mode. According to the utility model, the pneumatic cavity, the piston ring, the air inlet pipe and the extrusion rods are arranged, an external air source is used for filling air into the pneumatic cavity through the air inlet pipe and applying pressure to the piston ring, so that the piston ring slides outwards along a piston opening and drives the extrusion rods to extend outwards together, and the plurality of extrusion rods extend out of the driving clamping claw and then act together to extrude and clamp a workpiece; the extrusion rods can be pushed by gas pressure to flexibly adjust respective extension lengths and angles according to the specific shape of the special-shaped workpiece, so that the extrusion rods can be better attached to the surface of the special-shaped workpiece, unstable phenomena such as shaking and displacement of the workpiece in the clamping process due to incompact contact are avoided, the clamping stability of the special-shaped workpiece is improved, and the clamping efficiency of the special-shaped workpiece is improved. And the application range of the device is expanded.

Description

Technical Field

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

[0002] A pneumatic gripper for robotic arms is a device that uses gas pressure as a power source to clamp and hold workpieces. Installed on a robotic arm, it works in conjunction with the movement of the robotic arm to accurately grasp and fix various workpieces in automated production, processing, and handling processes, and then moves them to a braking position to release them, so as to facilitate subsequent processes.

[0003] A search revealed Chinese patent application CN202120440012.1, which discloses a pneumatic gripper device for a robotic arm. The device includes a gripping box, a mounting head fixedly connected to the bottom of the gripping box, a robotic arm movably connected to the inner cavity of the mounting head, a fixed sleeve fitted onto the upper end of the robotic arm, limit boxes fixedly connected to both sides of the top of the fixed sleeve, a pull rod movably connected to the outer side of the limit box, and a movable plate fixedly connected to the inner side of the pull rod penetrating the limit box. This invention, by incorporating a gripping box, movable rod, gripping block, movable seat, sliding rod, telescopic cylinder, transmission rod, and sliding sleeve block, enables the gripping and releasing of workpieces, effectively improving the stability during workpiece processing. Furthermore, the inclusion of the limit box, robotic arm, fixed sleeve, mounting head, movable plate, limit rod, limit groove, pull rod, and spring allows for quick assembly and disassembly of the gripping box, facilitating maintenance.

[0004] Regarding the aforementioned technologies, the inventors have discovered the following drawbacks: While the existing technologies allow for quick disassembly and are very convenient for maintenance, in actual use, the clamped workpieces may be irregularly shaped. These irregularly shaped workpieces have surface contours that are not regular planes or simple geometric shapes. Traditional plate-type grippers have relatively fixed shapes, making it difficult for them to fully conform to the complex surfaces of irregularly shaped workpieces. Often, only partial contact can be achieved, resulting in uneven distribution of contact points or surfaces. This prevents the clamping force from being evenly distributed across the entire workpiece, causing some areas to experience excessive force while others may experience insufficient force. Consequently, during transportation, the workpiece is prone to swaying or shifting due to uneven force distribution, affecting stability. Therefore, it is essential to design a highly practical pneumatic gripper device for manipulating different shapes. Utility Model Content

[0005] The purpose of this invention is to provide a pneumatic gripper device for robotic arms to solve the problems mentioned in the background art.

[0006] To solve the above technical problems, the present invention provides the following technical solution: a pneumatic gripper device for a robotic arm, including a gripper housing, guide openings on both sides of the gripper housing, two drive grippers slidingly fitted on the inner wall of the guide openings, a cylinder fixedly connected to the upper side of the gripper housing, and a linkage component provided between the cylinder and the two drive grippers;

[0007] Both of the driving grippers have pneumatic chambers on their inner walls. Multiple piston ports are provided on the adjacent side of the inner walls of the two pneumatic chambers. Piston rings are slidably fitted on the inner walls of the multiple piston ports. A compression rod is fixedly connected to one end of each piston ring. Air inlets are provided on opposite sides of the two pneumatic chambers. Air inlets are fixedly connected to the inner walls of each air inlet. A reset assembly that cooperates with the piston rings is provided on one side of the inner walls of the two pneumatic chambers.

[0008] According to the above technical solution, the linkage component includes a mounting base fixedly connected to the cylinder output end and a linkage plate rotatably engaged with the lower side of the mounting base and rotatably engaged with the two drive grippers on the same side.

[0009] According to the above technical solution, the reset assembly includes multiple mounting blocks fixedly connected to one side of the inner wall of the pneumatic cavity, and a tension spring fixedly connected between the multiple mounting blocks and the multiple piston rings.

[0010] According to the above technical solution, a square opening is provided on one side of each of the multiple mounting blocks, and a square block that is fixedly connected to the piston ring is slidably fitted on the inner wall of each of the multiple square openings. A limiting plate is fixedly connected to one end of each of the multiple square blocks, and one side of the limiting plate is in contact with one side of the inner wall of the pneumatic cavity.

[0011] According to the above technical solution, a rubber pad is fixedly connected to one side of each of the plurality of extrusion rods, and a plurality of anti-slip protrusions are provided on one side of each of the plurality of rubber pads.

[0012] According to the above technical solution, two guide rods are fixedly connected to the inner wall of the guide port, and a limiting port that slides with the two guide rods is opened on one side of each of the two drive grippers.

[0013] According to the above technical solution, two external blocks are fixedly connected to the upper side of the fixture housing, and each of the two external blocks has a connection port on one side.

[0014] Compared with the prior art, the beneficial effects achieved by this utility model are as follows: This utility model, by setting up a pneumatic chamber, piston rings, an air inlet pipe, and extrusion rods, allows gas to be injected into the pneumatic chamber through an external air source via the air inlet pipe. After the gas enters the pneumatic chamber, it applies pressure to the piston rings. Under the action of gas pressure, the piston rings overcome the pulling force of the reset assembly and slide outward along the piston opening, driving the extrusion rods fixedly connected to one end of the piston to extend outward together. After multiple extrusion rods extend from the drive gripper, they work together to extrude and clamp the workpiece. Under the push of gas pressure, the multiple extrusion rods can flexibly adjust their respective extension lengths and angles according to the specific shape of the irregular workpiece, so as to better fit the surface of the irregular workpiece and avoid unstable phenomena such as shaking and displacement of the workpiece during clamping due to poor contact. This improves the stability of clamping irregular parts and thus expands the applicability of this device. Attached Figure Description

[0015] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0017] Figure 2 This is a three-dimensional cross-sectional view of the clamp housing of this utility model;

[0018] Figure 3 This is a schematic diagram of the three-dimensional cross-sectional structure of the drive gripper of this utility model;

[0019] Figure 4 This is the utility model Figure 3 Enlarged structural diagram at point A in the middle;

[0020] In the diagram: 1. Fixture housing; 2. Guide port; 3. Drive gripper; 4. Cylinder; 5. Linkage assembly; 501. Mounting base; 502. Linkage plate; 6. Pneumatic chamber; 7. Piston port; 8. Piston ring; 9. Extrusion rod; 10. Air inlet; 11. Air inlet pipe; 12. Reset assembly; 121. Mounting block; 122. Tension spring; 13. Square opening; 14. Square block; 15. Limiting plate; 16. Rubber pad; 17. Anti-slip protrusion; 18. Guide rod; 19. Limiting port; 20. External block; 21. Connection port. Detailed Implementation

[0021] 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.

[0022] Please see Figure 1-4 The present invention provides a technical solution: a pneumatic gripper device for a robotic arm, including a gripper housing 1, guide openings 2 on both sides of the gripper housing 1, two drive grippers 3 slidingly fitted on the inner wall of the guide openings 2, a cylinder 4 fixedly connected to the upper side of the gripper housing 1, the cylinder 4 being connected to a corresponding pneumatic component, and a linkage component 5 being provided between the cylinder 4 and the two drive grippers 3.

[0023] Both drive grippers 3 have pneumatic chambers 6 on their inner walls. Multiple piston ports 7 are provided on the side of the inner walls of the two pneumatic chambers 6 that are close to each other. Piston rings 8 are slidably fitted on the inner walls of the multiple piston ports 7. A compression rod 9 is fixedly connected to one end of the piston ring 8. Air inlets 10 are provided on the opposite sides of the two pneumatic chambers 6. Air inlets 11 are fixedly connected to the inner walls of the two air inlets 10. Corresponding pneumatic components are connected to the outside of the air inlets 11. A reset component 12 that cooperates with the piston ring 8 is provided on one side of the inner wall of the two pneumatic chambers 6.

[0024] Please see Figure 2 The linkage component 5 includes a mounting base 501 fixedly connected to the output end of the cylinder 4, and a linkage plate 502 rotatably engaged with the lower side of the mounting base 501 and rotatably engaged with the two drive grippers 3 on the side close to each other. When the cylinder 4 performs a telescopic operation, the linkage plate 502 will push the two drive grippers 3 to move linearly on the lower side of the mounting base 501.

[0025] Please see Figure 4 The reset assembly 12 includes multiple mounting blocks 121 fixedly connected to one side of the inner wall of the pneumatic cavity 6, and a tension spring 122 fixedly connected between the multiple mounting blocks 121 and the multiple piston rings 8. When there is no longer pressure inside the pneumatic cavity 6, the piston rings 8 can be pulled by the tension spring 122 to reset until the limiting plate 15 abuts against one side of the inner wall of the pneumatic cavity 6.

[0026] Please see Figure 4Each of the mounting blocks 121 has a square opening 13 on one side. The inner wall of each square opening 13 is slidably fitted with a square block 14 that is fixedly connected to the piston ring 8. One end of each square block 14 is fixedly connected to a limiting plate 15. One side of the limiting plate 15 is in contact with one side of the inner wall of the pneumatic cavity 6. When the piston ring 8 moves, the square block 14 will slide on the inner wall of the square opening 13, thereby guiding the piston ring 8. After moving a certain distance, the limiting plate 15 can contact the mounting block 121 to limit the piston ring 8.

[0027] Please see Figure 4 Each of the multiple extrusion rods 9 has a rubber pad 16 fixedly connected to one side, and each of the multiple rubber pads 16 has multiple anti-slip protrusions 17 on one side. When the multiple extrusion rods 9 clamp the workpiece, the rubber pads 16 can reduce the extrusion on the workpiece, and the anti-slip protrusions 17 increase the friction between the workpiece and the rubber pads 16.

[0028] Please see Figure 1 Two guide rods 18 are fixedly connected to the inner wall of the guide port 2. Each of the two drive grippers 3 has a limiting port 19 on one side that slides with the two guide rods 18. When the drive gripper 3 moves in a straight line, it will slide on the upper side of the guide rod 18. Lubricating oil can be applied to the outside of the guide rod 18 to facilitate the guidance of the drive gripper 3 and increase the smoothness of the movement.

[0029] Please see Figure 2 Two external blocks 20 are fixedly connected to the upper side of the fixture housing 1. Each of the two external blocks 20 has a connection port 21 on one side. The external blocks 20 can be connected to the corresponding robotic arm by passing through the connection port 21 with the corresponding fastener.

[0030] The implementation principle of this application is as follows: When using this device, first connect the fixture housing 1 to the corresponding robotic arm. During the clamping process, first introduce gas into the cylinder 4. The output end of the cylinder 4 will extend and retract under the action of gas pressure. As the cylinder 4 extends and retracts, the mounting base 501 drives the linkage plate 502 that rotates with it to move. The linkage plate 502 then rotates and engages with the two drive grippers 3, thereby converting the linear motion of the cylinder 4 into the horizontal sliding of the drive grippers 3, realizing the movement of the two drive grippers 3 to approach or move away, and realizing the drive grippers 3 to clamp the workpiece.

[0031] When clamping irregularly shaped workpieces, the drive grippers 3 are first moved to both sides of the workpiece. Gas is then introduced into the pneumatic chambers 6 inside the two drive grippers 3 through the air inlet pipe 11 from an external air source. After the gas enters the pneumatic chambers 6, it applies pressure to the piston rings 8. Under the action of gas pressure, the piston rings 8 overcome the pulling force of the reset assembly 12 and slide outward along the piston port 7, driving the pressing rods 9 fixedly connected to one end of them to extend outward together. After multiple pressing rods 9 extend from the drive grippers 3, they work together to press and clamp the workpiece. Under the push of gas pressure, the extension length and angle of the multiple pressing rods 9 can be flexibly adjusted according to the specific shape of the irregularly shaped workpiece to better fit the surface of the irregularly shaped workpiece, avoiding unstable phenomena such as shaking and displacement of the workpiece during clamping due to poor contact, thereby improving the stability of clamping irregularly shaped parts and thus improving the applicability of this device.

[0032] When it is necessary to release the workpiece, the air supply to the pneumatic cavity 6 is stopped, and the drive clamp 3 is driven back to the initial position by the cylinder 4. At this time, the reset component 12 plays a role. The tension spring 122 uses its own elastic tension to pull the piston ring 8 back to the initial position, so that the extrusion rod 9 retracts and releases the clamping of the workpiece. In this process, the square opening 13, the square block 14 and the limiting plate 15 play a role in limiting and guiding the movement direction of the piston ring 8, ensuring that the piston ring 8 can stably make reciprocating linear motion in the pneumatic cavity 6. When clamping a flat workpiece, the limiting plate 15 abuts against the inner wall of the pneumatic cavity 6, and multiple extrusion rods 9 can contact and clamp the workpiece at the same horizontal level.

[0033] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0034] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A pneumatic gripper device for a robotic arm, comprising a gripper housing (1), characterized in that: The clamp housing (1) has guide openings (2) on both sides. The inner wall of the guide opening (2) has two driving grippers (3) that slide together. The upper side of the clamp housing (1) is fixedly connected to a cylinder (4). A linkage component (5) is provided between the cylinder (4) and the two driving grippers (3). The inner walls of both drive grippers (3) are provided with pneumatic chambers (6). On the side of the inner walls of the two pneumatic chambers (6) that are close to each other, multiple piston ports (7) are provided. The inner walls of the multiple piston ports (7) are slidably fitted with piston rings (8). One end of the piston rings (8) is fixedly connected to a compression rod (9). On the opposite side of the two pneumatic chambers (6), air inlets (10) are provided. The inner walls of the two air inlets (10) are fixedly connected with air inlet pipes (11). A reset assembly (12) that cooperates with the piston rings (8) is provided on one side of the inner walls of the two pneumatic chambers (6).

2. The pneumatic gripper device for a robotic arm according to claim 1, characterized in that: The linkage component (5) includes a mounting base (501) fixedly connected to the output end of the cylinder (4) and a linkage plate (502) rotatably engaged on the lower side of the mounting base (501) and rotatably engaged with the two drive grippers (3) on the side close to each other.

3. The pneumatic gripper device for a robotic arm according to claim 1, characterized in that: The reset assembly (12) includes a plurality of mounting blocks (121) fixedly connected to one side of the inner wall of the pneumatic cavity (6), and a tension spring (122) fixedly connected between the plurality of mounting blocks (121) and the plurality of piston rings (8).

4. The pneumatic gripper device for a robotic arm according to claim 3, characterized in that: Each of the mounting blocks (121) has a square opening (13) on one side. The inner wall of each of the square openings (13) is slidably fitted with a square block (14) that is fixedly connected to the piston ring (8). One end of each of the square blocks (14) is fixedly connected with a limiting plate (15). One side of the limiting plate (15) is in contact with one side of the inner wall of the pneumatic cavity (6).

5. The pneumatic gripper device for a robotic arm according to claim 1, characterized in that: A rubber pad (16) is fixedly connected to one side of each of the plurality of extrusion rods (9), and a plurality of anti-slip protrusions (17) are provided on one side of each of the plurality of rubber pads (16).

6. The pneumatic gripper device for a robotic arm according to claim 1, characterized in that: The inner wall of the guide port (2) is fixedly connected to two guide rods (18), and each of the two drive grippers (3) has a limiting port (19) that slides with the two guide rods (18).

7. The pneumatic gripper device for a robotic arm according to claim 1, characterized in that: Two external blocks (20) are fixedly connected to the upper side of the fixture housing (1), and each of the two external blocks (20) has a connection port (21) on one side.

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