Mechanical gripper

Abstract

The utility model provides a mechanical gripper, and belongs to the technical field of machinery. The problem that an existing finger and a sliding block are fixed through a positioning pin, and the finger is not easy to replace is solved. The mechanical paw comprises an air cylinder, a sliding block connected to the air cylinder, a finger connected to the sliding block and a screw, one end of the screw penetrates through the finger and is in threaded connection with the sliding block, the mechanical paw further comprises a positioning pin, and the two ends of the positioning pin penetrate through the sliding block and the finger respectively and are in transition fit with the sliding block and the finger respectively. A threaded hole is formed in the positioning pin, and a port of one end of the threaded hole is formed in the end face of the end, located in the finger, of the positioning pin. The mechanical gripper has the advantage of being convenient to replace.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical technology and relates to a robotic gripper. Background Technology

[0002] A robotic arm is an automated device that can mimic certain movements and functions of a human hand and arm, used to grasp, move objects, or operate tools according to a fixed program. Robotic arms can replace heavy human labor to achieve mechanization and automation of production, and can operate in hazardous environments to protect personal safety. Therefore, they are widely used in industries such as machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy.

[0003] The robotic gripper, located at the end of a robotic arm, is used to grasp workpieces. Existing robotic grippers can utilize common pneumatic grippers, which generally include a drive cylinder, two sliders slidably mounted on the drive cylinder, and two fingers fixed to the corresponding sliders. The movement of the robotic gripper is caused by the drive cylinder to move the two sliders towards each other or in opposite directions, thereby causing the two fingers to move towards each other to grasp the workpiece, or to move away from each other to release the workpiece. The fingers and sliders are often fixedly connected by fasteners.

[0004] As the application scope of robotic arms expands, a single robotic arm often needs to be compatible with the gripping of multiple types of workpieces. In this case, it is necessary to replace the fingers on the robotic arm gripper to match the gripping requirements of different workpieces.

[0005] In practical use, directly fixing the finger and slider with several screws or other fasteners facilitates disassembly, but the threaded connection leaves a certain gap, affecting the gripping accuracy of the robotic finger. Therefore, in addition to using screws or other fasteners to connect the finger and slider, a positioning pin was considered to be inserted between the finger and slider to ensure gripping accuracy. However, the outer surface of the tightly fitted positioning pin is smooth and not exposed, making it difficult to remove and facilitating finger replacement. Utility Model Content

[0006] The purpose of this invention is to address the aforementioned problems in the existing technology by proposing a robotic gripper that solves the problem of difficulty in replacing fingers when using positioning pins to fix the fingers and sliders.

[0007] The objective of this utility model can be achieved through the following technical solutions:

[0008] A robotic gripper includes a cylinder, a slider connected to the cylinder, a finger connected to the slider, and a screw. One end of the screw passes through the finger and is threadedly connected to the slider. The robotic gripper further includes a positioning pin, with both ends of the positioning pin passing through the slider and the finger respectively and transitionally engaging with the slider and the finger. The positioning pin has a threaded hole, and one end of the threaded hole is located on the end face of the positioning pin located inside the finger.

[0009] In this robotic gripper, the slider and fingers are simultaneously secured by screws and locating pins. On one hand, the screw's threaded connection provides coarse positioning and facilitates assembly and disassembly. On the other hand, the transition fit between the locating pin, slider, and fingers reduces clearance and improves the finger's positioning accuracy on the slider. Furthermore, a threaded hole is provided at the end of the locating pin, meaning this end has internal threads. Even if the locating pin is located inside the slider and fingers, it can be axially pulled out using existing components such as screws. This not only facilitates disassembly but also reduces damage during removal, allowing the locating pin to be reused.

[0010] In the aforementioned robotic gripper, the locating pin is annular, and its inner hole is a threaded hole. The threaded hole extends axially through the entire locating pin, allowing a screw to pass through, thus making the locating pin easier to remove.

[0011] In the aforementioned robotic gripper, the fingers have gripping ends for grasping workpieces. The screw and the locating pin are arranged parallel to each other, with the locating pin closer to the gripping end than the screw. The closer proximity of the locating pin to the gripping end of the finger better ensures the accuracy of the finger's gripping of the workpiece.

[0012] In the aforementioned robotic gripper, one end of the locating pin has a tapered guide surface on its outer side. This tapered guide surface facilitates the insertion of the locating pin to secure the slider and finger.

[0013] In the aforementioned robotic gripper, the inner wall of the slider has an inwardly protruding, annular shoulder, and one end of the positioning pin abuts against the shoulder. The shoulder limits the insertion depth of the positioning pin, thereby ensuring the stability and accuracy of the positioning pin's positioning between the finger and the slider.

[0014] Compared to existing technologies, the slider and fingers in this robotic gripper are simultaneously fixed using screws and locating pins. On one hand, the screw's threaded connection provides coarse positioning for both, facilitating assembly and disassembly. On the other hand, the transition fit between the locating pin, slider, and fingers reduces clearance and improves the finger's positioning accuracy on the slider. Furthermore, a threaded hole is provided at the end of the locating pin, meaning this end has internal threads. Even if the locating pin is located inside the slider and fingers, it can be axially pulled out using existing components such as screws. This not only facilitates disassembly but also reduces damage during disassembly, allowing the locating pin to be reused. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this robotic gripper.

[0016] Figure 2 This is a cross-sectional structural diagram of the robotic gripper.

[0017] In the diagram, 1 is the cylinder; 2 is the slider; 21 is the second positioning hole; 22 is the shoulder; 3 is the finger; 31 is the first positioning hole; 32 is the gripping end; 4 is the screw; 5 is the positioning pin; 51 is the threaded hole; and 52 is the guide surface. Detailed Implementation

[0018] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0019] like Figure 1 and Figure 2 As shown, this robotic gripper is used to fix itself to the end of a robotic arm and can move synchronously with the movement of the robotic arm. This robotic gripper includes a cylinder 1 for fixing itself to the robotic arm, two block-shaped sliders 2 connected to the cylinder 1, two fingers 3 correspondingly connected to the two sliders 2, screws 4, and annular positioning pins 5. The cylinder 1 can drive the two sliders 2 to move closer together or further apart, thereby causing the two fingers 3 to move closer together or further apart, thus achieving the gripping or releasing of the workpiece.

[0020] Since the two sliders 2 and the finger 3 are symmetrically arranged, we will take one of them as an example for explanation.

[0021] One end of the screw 4 passes through the finger 3 and is threadedly connected to the slider 2. The other end of the screw 4 has a head that can abut against the finger 3 on the opposite side of the slider 2. A positioning hole 31 is also provided through the finger 3, and a corresponding positioning hole 21 is provided on the slider 2. One end of the positioning pin 5 passes through the positioning hole 31 and is inserted into the positioning hole 21, while the other end of the positioning pin 5 is located inside the positioning hole 31. The inner hole of the positioning pin 5 is a threaded hole 51. The positioning pin 5 and the positioning hole 31 are in a transition fit, and the positioning pin 5 and the positioning hole 21 are also in a transition fit.

[0022] In this embodiment, there is a very small gap between the positioning pin 5 and the positioning hole 31, and between the positioning pin 5 and the positioning hole 21. The specific gap can be determined according to actual needs and processing accuracy, so as to ensure that the positioning pin 5 can be inserted while the finger 3 does not wobble significantly relative to the slider 2. The outer side of one end of the positioning pin 5 has a tapered guide surface 52. The slider 2 has an inwardly protruding annular shoulder 22 at the side wall of the positioning hole 21. One end of the positioning pin 5 abuts against the shoulder 22. The two fingers 3 have a gripping end 32 for gripping the workpiece at the opposite end. The screw 4 and the positioning pin 5 are arranged parallel to each other, and the positioning pin 5 is closer to the gripping end 32 than the screw 4.

[0023] The specific embodiments described herein are merely illustrative examples illustrating the spirit of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the spirit of this utility model or exceeding the scope defined by the appended claims.

Claims

1. A robotic gripper, comprising a cylinder (1), a slider (2) connected to the cylinder (1), a finger (3) connected to the slider (2), and a screw (4), one end of the screw (4) passing through the finger (3) and threadedly connected to the slider (2), characterized in that, The robotic gripper also includes a positioning pin (5), the two ends of which are respectively inserted into the slider (2) and the finger (3) and respectively transitionally engaged with the slider (2) and the finger (3). The positioning pin (5) has a threaded hole (51), and one end of the threaded hole (51) is opened on the end face of the positioning pin (5) located inside the finger (3).

2. The robotic gripper according to claim 1, characterized in that, The positioning pin (5) is annular, and the inner hole of the positioning pin (5) is the aforementioned threaded hole (51).

3. A robotic gripper according to claim 1 or 2, characterized in that, The finger (3) has a gripping end (32) for gripping a workpiece, the screw (4) and the locating pin (5) are arranged parallel to each other, and the locating pin (5) is closer to the gripping end (32) than the screw (4).

4. A robotic gripper according to claim 1 or 2, characterized in that, The outer side of one end of the positioning pin (5) has a tapered guide surface (52).

5. A robotic gripper according to claim 1 or 2, characterized in that, The inner wall of the slider (2) has an inwardly protruding annular shoulder (22), and one end of the positioning pin (5) abuts against the shoulder (22).

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