Pneumatic gripper for gripping disc-shaped workpiece
By designing a pneumatic gripper with a symmetrical layout and buffer components, the problems of low efficiency, high wear and tear, and quality risks of traditional pneumatic grippers are solved, enabling efficient and stable handling and assembly of disc-shaped workpieces.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- YANTAI LITA CRAFTSMAN ROBOT CO LTD
- Filing Date
- 2025-06-04
- Publication Date
- 2026-04-24
AI Technical Summary
Traditional pneumatic grippers are inefficient, prone to wear and tear, and suffer from quality risks and insufficient system fault tolerance when handling disc-shaped workpieces due to rigid impacts, making it difficult to meet the needs of high-speed production lines.
Design a pneumatic gripper that includes two symmetrically arranged gripper mechanisms and a buffer assembly. The symmetrical layout counteracts eccentric loads, the buffer assembly absorbs impact vibrations, and the flexible contact prevents workpiece damage, thereby improving handling stability and fault tolerance.
It significantly improves handling efficiency and equipment lifespan, reduces the risk of workpiece damage, enhances system fault tolerance, and ensures the stable operation of high-cycle production lines.
Smart Images
Figure CN224158432U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to a pneumatic gripper for grasping disc-shaped workpieces, belonging to the field of automated material handling technology. Background Technology
[0002] In the field of industrial automation, pneumatic grippers are widely used for handling and assembling disc-shaped workpieces. Traditional pneumatic grippers typically employ a single-sided gripping mechanism, which has the following significant drawbacks: ① Low handling efficiency: Only one workpiece can be gripped per operation, making it difficult to meet the needs of high-speed production lines, especially prone to causing production line congestion in large-volume handling scenarios; ② Eccentric load leading to robot wear: During single-sided gripping, the center of gravity of the workpiece deviates from the axis of the robot's end effector, generating continuous eccentric torque. Long-term operation will lead to abnormal wear of the robot's joint reducer, reduced repeatability and accuracy, and shortened equipment lifespan; ③ Rigid impact causing quality risks: Existing grippers lack an effective buffering mechanism, and the rigid contact at the moment of gripping is prone to axial impact vibration, resulting in workpiece positioning deviation, increased surface scratch rate of precision workpieces, and increased risk of workpiece slippage during high-speed handling; ④ Insufficient system fault tolerance: Single-gripper structures require shutdown for maintenance in case of failure, causing production line interruption and resulting in lost production capacity. Therefore, there is an urgent need to develop a new type of pneumatic gripper for gripping disc-shaped workpieces to overcome the current technological bottlenecks. Utility Model Content
[0003] This invention addresses the shortcomings of existing technologies by providing a pneumatic gripper for grasping disc-shaped workpieces.
[0004] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A pneumatic gripper for gripping disc-shaped workpieces includes: a mounting assembly, which includes a flange for connecting to a robotic arm, and a mounting plate is fixedly disposed on one side of the flange; a gripper assembly, which includes a first gripper mechanism and a second gripper mechanism symmetrically disposed on the upper and lower sides of the mounting plate, each of the first gripper mechanism and the second gripper mechanism including a base plate and a pneumatic chuck disposed on the base plate, the pneumatic chuck being connected to at least three jaws for gripping disc-shaped workpieces; and a buffer assembly, in which a plurality of buffer assemblies are evenly disposed on the mounting plate, the upper end of the buffer assembly being connected to the first gripper mechanism and the lower end being connected to the second gripper mechanism.
[0005] Furthermore, the buffer assembly includes linear bearings coaxially disposed on the upper and lower sides of the mounting plate, with guide posts slidably disposed in the linear bearings. The upper end of the guide post is connected to the base plate of the first gripper mechanism, and the lower end of the guide post is connected to the base plate of the second gripper mechanism. The guide post is also fitted with a compression spring, with one end of the compression spring abutting against the base plate and the other end abutting against the linear bearing.
[0006] Furthermore, three sets of buffer components are evenly arranged on the mounting plate, and the three sets of buffer components are arranged in an equilateral triangle.
[0007] Furthermore, the gripper has an L-shaped structure, which includes a vertical plate and a horizontal plate. The side of the vertical plate that contacts the disc-shaped workpiece is provided with a clamping and anti-detachment component, and the side of the horizontal plate that contacts the disc-shaped workpiece is provided with an anti-collision block.
[0008] Furthermore, the clamping anti-detachment component includes an anti-detachment seat, and a receiving cavity recessed into the anti-detachment seat is provided on one side. The receiving cavity includes a placement groove and a retaining edge extending obliquely from the front end of the placement groove toward the upper and lower end surfaces of the anti-detachment seat. An anti-slip block is provided in the placement groove.
[0009] Furthermore, the inclination angle α of the retaining edge is 25-35 degrees.
[0010] Furthermore, the maximum distance L1 between the upper and lower retaining edges is 1.3-1.5 times the height L2 of the placement groove.
[0011] Furthermore, both the anti-collision block and the anti-slip block are made of elastic nylon material, and the surface of the anti-slip block is provided with anti-slip texture.
[0012] The beneficial effects of this utility model are:
[0013] ① By symmetrically setting two sets of gripper mechanisms, the robot can grab two workpieces at a time, which significantly improves the handling efficiency and applicability. This allows the pneumatic gripper described in this application to be applicable to various production scenarios. When it is applied to a single workpiece production line, if one side of the gripper mechanism fails, the other side of the gripper mechanism can still grab and handle the workpiece, avoiding the problem of the production line accumulating too many workpieces to be handled in a short period of time, which would cause the production line to be congested. When it is applied to a two-workpiece assembly scenario, by changing the jaw model of the two sets of gripper mechanisms, the pneumatic gripper described in this application can grab two workpieces to be assembled to the assembly station at the same time, which can greatly improve the assembly efficiency.
[0014] ② Compared with the traditional single-sided gripper mechanism, the symmetrical layout can effectively offset the eccentric load on the robot during the workpiece handling process, avoid the robot end bearing additional torque, effectively ensure the service life of the robot and the accuracy of repeated gripping and positioning, and solve the problems of positioning inaccuracy and robot life reduction caused by eccentricity during single-sided handling.
[0015] ③ By setting up a buffer component, both sets of gripper mechanisms can be buffered during gripping / releasing, and the axial impact energy absorption rate is increased to more than 85%. When gripping the workpiece, it can effectively absorb the impact vibration caused by the rigid contact between the workpiece and the gripper mechanism. This can not only solve the problem of positioning accuracy affected by impact vibration, but also reduce the probability of surface damage to the workpiece to be transported, and ensure the stability of the workpiece during high-speed transport, avoiding the workpiece from slipping and falling due to mechanical vibration. Attached Figure Description
[0016] Figure 1 This is a three-dimensional structural diagram of the pneumatic gripper provided in an embodiment of the present utility model;
[0017] Figure 2 This is a schematic diagram of the three-dimensional structure of the chuck provided in an embodiment of the present utility model;
[0018] Figure 3 This is a three-dimensional structural diagram of the anti-detachment seat provided in an embodiment of the present utility model.
[0019] Reference numerals: 1. Flange; 2. Mounting plate; 3. First gripper mechanism; 4. Second gripper mechanism; 5. Base plate; 6. Pneumatic chuck; 7. Claw; 8. Linear bearing; 9. Guide post; 10. Compression spring; 11. Vertical plate; 12. Horizontal plate; 13. Anti-collision block; 14. Anti-detachment seat; 141. Upper end face; 142. Lower end face; 15. Receiving cavity; 151. Placement groove; 152. Side guard; 16. Anti-slip block. Detailed Implementation
[0020] The specific embodiments of this utility model are described in detail below. This utility model can be implemented in many ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed herein.
[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used is for describing particular embodiments only and is not intended to limit the scope of this invention.
[0022] In the description of this utility model, it should be understood that the terms "center", "upper", "lower", "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 limitations on this utility model.
[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection or setting, a detachable connection or setting, or an integral connection or setting. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0024] Example:
[0025] like Figure 1 As shown, this utility model provides a pneumatic gripper for gripping disc-shaped workpieces, comprising: a mounting assembly, which includes a flange 1 for connecting to a robotic arm, a mounting plate 2 fixedly disposed on one side of the flange 1, and the mounting plate 2 welded to the flange 1; a gripper assembly, which includes a first gripper mechanism 3 and a second gripper mechanism 4 symmetrically disposed on the upper and lower sides of the mounting plate 2, each of the first gripper mechanism 3 and the second gripper mechanism 4 including a base plate 5 and a pneumatic chuck 6 disposed on the base plate 5, the pneumatic chuck 6 being screwed to the base plate 5, and the pneumatic chuck 6 being connected to at least three jaws 7 for gripping disc-shaped workpieces, the pneumatic gripper of this application having three jaws 7, the pneumatic chuck 6 controlling the three jaws 7 to move synchronously outward or synchronously inward; and a buffer assembly, wherein several sets of buffer assemblies are evenly disposed on the mounting plate 2, the upper end of the buffer assembly being connected to the first gripper mechanism 3 and the lower end being connected to the second gripper mechanism 4.
[0026] First, by symmetrically arranging two sets of gripper mechanisms, the robotic arm can grasp two workpieces at a time, significantly improving handling efficiency and applicability. This allows the pneumatic gripper described in this application to be used in various production scenarios. When applied to a single-workpiece production line, if one side of the gripper mechanism fails, the other side can still grasp and transport the workpiece, avoiding the problem of production line congestion caused by too many workpieces accumulating in a short period of time. When applied to a two-workpiece assembly scenario, by changing the chuck type 7 of the two sets of gripper mechanisms, the pneumatic gripper described in this application can simultaneously grasp two workpieces to be assembled and move them to the assembly station, greatly improving assembly efficiency. Second, the symmetrical layout, compared to the traditional single-sided arrangement of grippers, provides a more efficient and efficient handling mechanism. The structure effectively counteracts the eccentric load on the robot arm during workpiece handling, preventing the robot arm's end effector from bearing additional torque. This effectively ensures the robot arm's service life and repeated gripping positioning accuracy, solving the problems of positioning inaccuracy and robot arm lifespan reduction caused by eccentricity during unilateral handling. Finally, by setting up a buffer component, both sets of gripper mechanisms can be buffered during gripping / releasing, increasing the axial impact energy absorption rate to over 85%. When gripping a workpiece, it can effectively absorb the impact vibration caused by the rigid contact between the workpiece and the gripper mechanism. This not only solves the problem of positioning accuracy being affected by impact vibration, but also reduces the probability of surface damage to the workpiece being handled, and ensures workpiece stability during high-speed handling, preventing the workpiece from slipping and falling due to mechanical vibration.
[0027] Specifically, such as Figure 1As shown, the buffer assembly includes linear bearings 8 coaxially mounted on the upper and lower sides of the mounting plate 2. A guide post 9 is slidably disposed within the linear bearing 8, penetrating the mounting plate 2. The upper end of the guide post 9 is connected to the base plate 5 of the first gripper mechanism 3, and the lower end is connected to the base plate 5 of the second gripper mechanism 4. The guide post 9 is threadedly connected and fixed to the base plate 5. A compression spring 10 is also fitted onto the guide post 9, with one end abutting against the base plate 5 and the other end abutting against the linear bearing 8. This configuration achieves both axial buffering and radial self-adaptation. The sliding cooperation between the linear bearing 8 and the guide post 9 ensures the movement accuracy of the guide post 9 during axial buffering, effectively reducing the radial runout of the guide post 9. This, in turn, ensures the alignment accuracy of the jaws 7 of the first gripper mechanism 3 and the second gripper mechanism 4, solving the problems of workpiece eccentricity during axial buffering caused by radial offset of the guide post 9 and workpiece surface scratches.
[0028] Specifically, such as Figure 1 As shown, three sets of buffer components are evenly arranged on the mounting plate 2, forming an equilateral triangle. This arrangement ensures reliable buffering while uniformly distributing the load on the mounting plate 2, effectively preventing localized stress concentration and extending its service life. Furthermore, the equilateral triangle arrangement provides three-dimensional constraints for the gripper mechanism, effectively reducing the attitude deviation of the pneumatic chuck 6 when driving the jaws 7 to open and close.
[0029] Specifically, such as Figure 2 As shown, to further prevent surface scratches from rigid contact during workpiece gripping and to further improve workpiece stability during high-speed handling, the gripper 7 has an L-shaped structure, including a vertical plate 11 and a horizontal plate 12. The side of the vertical plate 11 that contacts the disc-shaped workpiece is equipped with a clamping anti-detachment component, and the side of the horizontal plate 12 that contacts the disc-shaped workpiece is equipped with an anti-collision block 13. This design transforms the rigid contact between the workpiece and the gripper 7 during gripping into a flexible contact, effectively reducing contact stress, ensuring workpiece quality, and achieving full non-metallic contact protection for the workpiece. This allows the pneumatic gripper described in this application to meet the requirements of non-destructive handling in the precision manufacturing field.
[0030] Specifically, such as Figure 3As shown, the clamping anti-detachment assembly includes an anti-detachment seat 14. The anti-detachment seat 14 has a recessed receiving cavity 15 on one side. The receiving cavity 15 includes a placement groove 151 and a retaining edge 152 extending obliquely from the front end of the placement groove 151 toward the upper end face 141 and the lower end face 142 of the anti-detachment seat 14. An anti-slip block 16 is provided in the placement groove 151. It should be noted that the anti-detachment seat 14 is screwed to the vertical plate 11 and the upper end face 141 of the anti-detachment seat 14 is flush with the end face of the vertical plate 11. The "front end" is the side of the placement groove 151 away from the vertical plate 11. The anti-slip block 16 is fixed in the placement groove 151 by bolts. With the above settings, when gripping the workpiece, the guard edge 152 can play a guiding role, guiding the workpiece to slide to abut against the anti-slip block 16. In the subsequent handling process, the guard edge 152 plays a blocking and restricting role. At this time, the anti-slip block 16 set in the placement groove 151 can restrict the radial displacement of the workpiece, and the guard edge 152 can restrict the axial displacement of the workpiece. During the handling process, if the gripper mechanism causes the position of the chuck 7 to move slightly due to external force or its own factors, causing the workpiece to shake, the guard edge 152 can effectively prevent the workpiece from slipping and falling, significantly improving the anti-slip capability. While improving the stability of high-speed workpiece handling, it also improves the fault tolerance of the device.
[0031] Specifically, such as Figure 3 As shown, the inclination angle α of the retaining edge 152 is 25-35 degrees. The limitation of this parameter is crucial, as it balances the relationship between the service life of the anti-detachment seat 14 and the non-destructive handling of the workpiece. If the tilt angle α of the stop 152 is less than 25 degrees, the structural strength of the transition position between the stop 152 and the placement groove 151 is insufficient. During high-frequency clamping and handling, the stop 152 is prone to fatigue fracture. Furthermore, due to insufficient structural strength, the stop 152 is prone to resonance when the workpiece slides, resulting in reduced handling stability. If the tilt angle α of the stop 152 is greater than 35 degrees, although the structural strength of the stop 152 is improved, the corresponding strength redundancy leads to an increase in mass, requiring the chuck 7 to have higher structural strength. Moreover, when the tilt angle of the stop 152 is too large, the sliding resistance of the workpiece is too large during the process of guiding the workpiece to abut against the anti-slip block 16. When handling brittle workpieces such as ceramics, the edges of the workpiece are prone to chipping, causing quality defects. Therefore, through the above limitations, the service life of the anti-detachment seat 14 and the non-destructive handling of the workpiece are effectively ensured while guaranteeing the stability of workpiece handling.
[0032] Specifically, such as Figure 3As shown, the maximum distance L1 between the upper and lower retaining edges 152 is 1.3-1.5 times the height L2 of the placement groove 151. Given a determined inclination angle of the retaining edge 152, if L1 is less than 1.3 times L2, the inclination extension length of the retaining edge 152 is too small, resulting in insufficient expansion of the opening of the receiving cavity 15. This significantly increases the probability of workpiece gripping failure. Furthermore, during high-speed transport, if the workpiece wobbles, the retaining edge 152 cannot effectively prevent it from slipping. If L1 is greater than 1.5 times L2, the inclination extension length of the retaining edge 152 is too long, leading to insufficient local structural strength of the retaining edge 152. Additionally, when guiding the workpiece, the contact time between the workpiece and the retaining block is too long, increasing the probability of workpiece scratches or edge chipping.
[0033] Specifically, to further ensure workpiece quality and handling stability, both the anti-collision block 13 and the anti-slip block 16 are made of elastic nylon material, and the surface of the anti-slip block 16 is provided with anti-slip texture.
[0034] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are exhaustively listed. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0035] For those skilled in the art, various modifications and improvements can be made without departing from the concept of this utility model, and these modifications and improvements are all within the protection scope of this utility model. The protection scope of this utility model is defined by the appended claims.
Claims
1. A pneumatic gripper for grasping disc-shaped workpieces, characterized in that, include: The mounting assembly includes a flange for connection to a robotic arm, with a mounting plate fixedly mounted on one side of the flange. The gripper assembly includes a first gripper mechanism and a second gripper mechanism symmetrically arranged on the upper and lower sides of the mounting plate. Both the first gripper mechanism and the second gripper mechanism include a base plate and a pneumatic chuck disposed on the base plate. The pneumatic chuck is connected to at least three jaws for gripping disc-shaped workpieces. A buffer assembly is provided on the mounting plate, with several sets of buffer assemblies evenly arranged. The upper end of each buffer assembly is connected to a first gripper mechanism, and the lower end is connected to a second gripper mechanism.
2. The pneumatic gripper for grasping a disc-shaped workpiece according to claim 1, characterized in that, The buffer assembly includes linear bearings coaxially mounted on the upper and lower sides of the mounting plate. A guide post is slidably mounted in the linear bearing. The upper end of the guide post is connected to the base plate of the first gripper mechanism, and the lower end of the guide post is connected to the base plate of the second gripper mechanism. A compression spring is also sleeved on the guide post. One end of the compression spring abuts against the base plate, and the other end abuts against the linear bearing.
3. A pneumatic gripper for grasping a disc-shaped workpiece according to claim 1 or 2, characterized in that, The mounting plate is evenly provided with three sets of buffer components, which are arranged in an equilateral triangle.
4. A pneumatic gripper for grasping a disc-shaped workpiece according to claim 1, characterized in that, The chuck has an L-shaped structure, which includes a vertical plate and a horizontal plate. The side of the vertical plate that contacts the disc-shaped workpiece is provided with a clamping and anti-detachment component, and the side of the horizontal plate that contacts the disc-shaped workpiece is provided with an anti-collision block.
5. A pneumatic gripper for grasping a disc-shaped workpiece according to claim 4, characterized in that, The clamping anti-detachment component includes an anti-detachment seat, and a receiving cavity recessed into the anti-detachment seat is provided on one side. The receiving cavity includes a placement groove and a retaining edge extending obliquely from the front end of the placement groove toward the upper and lower end surfaces of the anti-detachment seat. An anti-slip block is provided in the placement groove.
6. A pneumatic gripper for grasping a disc-shaped workpiece according to claim 5, characterized in that, The inclination angle α of the retaining edge is 25-35 degrees.
7. A pneumatic gripper for grasping a disc-shaped workpiece according to claim 6, characterized in that, The maximum distance L1 between the upper and lower guard edges is 1.3-1.5 times the height L2 of the placement groove.
8. A pneumatic gripper for grasping a disc-shaped workpiece according to any one of claims 5-7, characterized in that, Both the anti-collision block and the anti-slip block are made of elastic nylon material, and the surface of the anti-slip block is provided with anti-slip texture.