Self-locking pneumatic gripper and truss robot

Abstract

The utility model discloses a kind of self-locking pneumatic clamping jaw and truss manipulator, the pneumatic clamping jaw includes: pedestal, drive cylinder, transmission shaft and clamping mechanism;The drive cylinder is installed on the pedestal, the clamping mechanism is hinged with the pedestal by the transmission shaft, the drive cylinder is driven connection with the transmission shaft, can drive the clamping mechanism to open or contract;The pedestal is provided with retractable locking pin, the transmission shaft is fixedly provided with lock block, in the minimum contract state of the clamping mechanism, the locking pin elongation can be connected with the lock block, the locking pin shortening can be separated from the lock block. The utility model embodiment is matched by retractable locking pin being set on pedestal and lock block being set on transmission shaft, the rotation of transmission shaft can be locked, in the minimum contract state of clamping mechanism clamping, even if drive cylinder gas source interruption or failure, still can be stably maintained in contract state, the object held will not be dropped.

Description

Technical Field

[0001] This utility model relates to the field of pneumatic clamping technology, and in particular to a self-locking pneumatic gripper and gantry manipulator. Background Technology

[0002] Pneumatic grippers are automated clamping devices driven by compressed air. They control the opening and closing of the grippers by varying air pressure, enabling the gripping, securing, and releasing of workpieces. In the automotive manufacturing industry, to prevent workpieces from falling or other safety accidents caused by sudden interruptions in the air supply or power outages, methods such as adding air tanks to prevent air supply interruptions or configuring electromagnetic brake-type self-locking grippers are commonly used to reduce safety risks.

[0003] However, some existing self-locking grippers have complex structures and high configuration and maintenance costs, which are not conducive to reducing production costs and promoting widespread application. Utility Model Content

[0004] In view of this, the present invention provides a self-locking pneumatic gripper and gantry manipulator to solve the problems of complex structure and high cost of self-locking grippers in the prior art, which are not conducive to widespread application.

[0005] To achieve one or more of the above objectives or other objectives, this utility model proposes: a self-locking pneumatic gripper, comprising: a base, a drive cylinder, a transmission shaft, and a gripping mechanism;

[0006] The drive cylinder is mounted on the base, and the clamping mechanism is hinged to the base via the transmission shaft. The drive cylinder is driven by the transmission shaft and can drive the clamping mechanism to open or close.

[0007] The base is provided with a retractable locking pin, and the drive shaft is fixedly provided with a locking block. In the minimum retracted state of the clamping mechanism, the locking pin can be extended to engage with the locking block, and the locking pin can be shortened to separate from the locking block.

[0008] Preferably, a positioning seat is provided on the base, and a limiting rod is fixedly connected to the transmission shaft. The positioning seat is located on the swing path of the limiting rod. When the limiting rod swings to abut against the inner end of the positioning seat, the clamping mechanism reaches its minimum retracted state.

[0009] Preferably, the positioning seat is provided with an adjusting screw, the inner end of which can abut against the limiting rod.

[0010] Preferably, the limiting rod is arranged parallel to the axis of the locking block, and the upper end of the locking block is provided with a locking notch. When the limiting rod abuts against the inner end of the adjusting screw, the locking notch is located directly below the lower end of the locking pin.

[0011] Preferably, a telescopic cylinder is provided on the base, and the telescopic end of the telescopic cylinder is coaxially connected to the upper end of the locking pin.

[0012] Preferably, the clamping mechanism includes two pairs of grippers arranged symmetrically facing each other, and two drive cylinders arranged symmetrically back to back on the base. Each drive cylinder is connected to a corresponding drive shaft, and each pair of grippers is connected to both ends of a drive shaft.

[0013] Preferably, a crank is fixedly connected to the middle of the drive shaft, and the free end of the crank is hinged to the telescopic end of the drive cylinder, so that the drive cylinder can drive the crank to swing around the axis of the drive shaft.

[0014] Preferably, the base is provided with a clearance hole and parallel first clearance groove and second clearance groove. The clearance hole is used to avoid the locking pin, the first clearance groove is used to avoid the limiting rod, and the second clearance groove is used to avoid the crank.

[0015] Preferably, the bottom of the base is provided with a double-eared hinge seat, and the drive shaft is hinged to the double-eared hinge seat.

[0016] This utility model also proposes: a truss manipulator, comprising a truss body, a manipulator arm, and a self-locking pneumatic gripper as described in any one of the above, wherein the manipulator arm is movably mounted on the truss body, and the base is connected to the lower end of the manipulator arm.

[0017] Implementing the embodiments of this utility model will have the following beneficial effects:

[0018] After adopting the aforementioned self-locking pneumatic gripper and gantry manipulator, the rotation of the drive shaft can be locked by the cooperation of the retractable locking pin set on the base and the locking block set on the drive shaft. Even if the air supply to the drive cylinder is interrupted or malfunctions, the gripped object can still be stably maintained in the retracted state when the clamping mechanism is in its minimum retracted state, preventing the gripped object from falling off. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] in:

[0021] Figure 1This is a schematic diagram of the overall structure of the self-locking pneumatic gripper proposed in this utility model in its minimum retracted state.

[0022] Figure 2 This is a schematic diagram of the overall structure of the self-locking pneumatic gripper proposed in this utility model in the open state;

[0023] Figure 3 This is a partial structural diagram of the self-locking pneumatic gripper proposed in this utility model in its minimum retracted state.

[0024] Figure 4 This is a partial structural diagram of the self-locking pneumatic gripper proposed in this utility model in the open state;

[0025] Figure 5 This is a schematic diagram of the base of the self-locking pneumatic gripper proposed in this utility model;

[0026] Figure 6 This is a schematic diagram of the overall structure of the gantry robot proposed in this utility model.

[0027] Reference numerals: 10, base; 11, locking pin; 12, positioning seat; 121, adjusting screw; 13, telescopic cylinder; 14, clearance hole; 15, first clearance groove; 16, second clearance groove; 17, double-ear hinge seat; 20, drive cylinder; 30, transmission shaft; 31, locking block; 311, locking notch; 32, limit rod; 33, crank; 40, clamping mechanism; 41, gripper; 50, truss body; 51, robotic arm. Detailed Implementation

[0028] 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 herein in the specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or accompanying drawings of this invention are used to distinguish different objects, not to describe a particular order.

[0029] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the present invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0031] like Figure 1-6 The image shown is an embodiment provided by this utility model.

[0032] This utility model embodiment provides a self-locking pneumatic gripper, including: a base 10, a drive cylinder 20, a transmission shaft 30, and a clamping mechanism 40. The base 10 is the mounting foundation and bearing platform of the entire pneumatic gripper. The drive cylinder 20 is mounted on the base 10 as the core power source. The clamping mechanism 40 is used to perform gripping actions. It is hinged to the base 10 through the transmission shaft 30. The drive cylinder 20 is driven to the transmission shaft 30. The extension and retraction movement of the drive cylinder 20 provides the driving force required for the clamping action. The power is transmitted to the transmission shaft 30 through the crank 33 or the connecting rod mechanism, which can convert its linear reciprocating motion into the rotational motion of the transmission shaft 30, thereby driving the clamping mechanism 40 to open or close around the axis of the transmission shaft 30, thereby releasing or clamping the workpiece. A retractable locking pin 11 is provided on the base 10. The locking pin 11 can extend and retract along the vertical direction or a set trajectory. A locking block 31 is fixedly provided on the transmission shaft 30. The locking block 31 rotates synchronously with the transmission shaft 30. In the minimum retracted state of the clamping mechanism 40, that is, when the clamping mechanism 40 has completely clamped the object or workpiece, the locking pin 11 can be extended to accurately insert into or engage with the corresponding structure (such as a notch) of the locking block 31, forming a mechanical interlock, preventing the clamping mechanism 40 from being released due to accidental rotation of the transmission shaft 30. When the locking pin 11 is shortened, it can be completely separated from the locking block 31, releasing the self-locking state and allowing the transmission shaft 30 to rotate freely to realize the opening action of the clamping mechanism 40.

[0033] After adopting the aforementioned self-locking pneumatic gripper, the rotation of the drive shaft 30 can be locked by the cooperation between the retractable locking pin 11 set on the base 10 and the locking block 31 set on the drive shaft 30. In the minimum retracted state of the clamping mechanism 40, even if the air supply to the drive cylinder 20 is interrupted or malfunctions, it can still be stably maintained in the retracted state, and the clamped object will not fall off.

[0034] Furthermore, a positioning seat 12 is provided on the base 10, and a limiting rod 32 that swings synchronously with the transmission shaft 30 is fixedly connected to the transmission shaft 30. The swing radius of the outer end of the limiting rod 32 is greater than the distance between the axis of the positioning seat 12 and the axis of the transmission shaft 30. The positioning seat 12 is located on the swing path of the limiting rod 32. When the clamping mechanism 40 retracts, the limiting rod 32 swings with the rotation of the transmission shaft 30 until it abuts against the inner end of the positioning seat 12. At this time, the limiting rod 32 is forcibly blocked, and the transmission shaft 30 can no longer rotate, indicating that the clamping mechanism 40 has reached the preset minimum retraction state, thereby providing a position reference for the self-locking action of the locking pin 11 and the locking block 31. That is, when the limiting rod 32 abuts against the inner end of the positioning seat 12, the locking pin 11 can perform a locking action to lock the transmission shaft 30, so that the clamping mechanism 40 connected to it is maintained in the minimum retraction state.

[0035] Furthermore, the positioning seat 12 is provided with an adjusting screw 121. The adjusting screw 121 has an external thread and can be screwed in or out along the direction of the positioning seat 12. The inner end of the adjusting screw 121 (the end facing the limiting rod 32) can abut against the limiting rod 32. By rotating the adjusting screw 121 to change the extension length of its inner end, the stop position of the limiting rod 32 can be finely adjusted, thereby precisely controlling the minimum degree of retraction of the clamping mechanism 40 (i.e., the magnitude of the clamping force or the closing size) to adapt to the clamping requirements of different workpieces.

[0036] Specifically, the limiting rod 32 is arranged parallel to the axis of the locking block 31. The upper end of the locking block 31 (the end facing the locking pin 11) is provided with a locking notch 311. The locking notch 311 is U-shaped or rectangular groove. When the limiting rod 32 abuts against the inner end of the adjusting screw 121 (i.e., the clamping mechanism 40 is in the minimum retracted state), the locking notch 311 is located directly below the lower end of the locking pin 11. At this time, the locking pin 11 can be precisely inserted into the locking notch 311 by extending downward, so as to achieve reliable locking and ensure strict synchronization between the self-locking action of the locking pin 11 and the locking block 31 and the clamping state of the clamping mechanism 40.

[0037] Specifically, a telescopic cylinder 13 is provided on the base 10. The telescopic end of the telescopic cylinder 13 is coaxially connected to the upper end of the locking pin 11. By controlling the telescopic cylinder 13, the locking pin 11 can be directly driven to rise and fall precisely, so as to achieve automatic locking and disengagement in a self-locking state without manual operation.

[0038] Specifically, the clamping mechanism 40 includes two pairs of symmetrically arranged jaws 41 (generally one pair on each side of the base 10). Each pair of jaws 41 includes two gripping fingers, forming a four-point clamping mechanism to make the clamping more stable. In order to provide sufficient driving force and ensure the synchronization of the action, two drive cylinders 20 (generally one on each side of the base 10, with the extension and retraction ends of the drive cylinders 20 facing outward) are symmetrically arranged on the base 10. Each drive cylinder 20 is connected to a drive shaft 30 through an independent transmission mechanism. Each pair of jaws 41 is connected to both ends of a drive shaft 30, which can significantly improve the clamping rigidity and stability, and is especially suitable for clamping large or heavy workpieces.

[0039] Specifically, a crank 33 is fixedly connected to the middle of the drive shaft 30. The free end of the crank 33 (i.e. the end away from the drive shaft 30) is hinged to the telescopic end of the drive cylinder 20. The telescopic extension of the drive cylinder 20 can drive the crank 33 to swing around the axis of the drive shaft 30, thereby efficiently converting the linear motion of the drive cylinder 20 into the rotational motion of the drive shaft 30, driving the two pairs of grippers 41 to open and close.

[0040] Specifically, the base 10 is provided with a clearance hole 14 and parallel first clearance grooves 15 and second clearance grooves 16. The clearance hole 14 is located directly below the locking pin 11 and is used to avoid the locking pin 11, providing unobstructed movement space when the locking pin 11 is raised or lowered. The position of the first clearance groove 15 matches the movement trajectory of the limiting rod 32 and is used to avoid the limiting rod 32, providing a channel for the swing of the limiting rod 32. The position of the second clearance groove 16 matches the swing trajectory of the crank 33 and is used to avoid the crank 33, providing a channel for the swing of the crank 33.

[0041] Specifically, the base 10 has a double-eared hinge seat 17 at its bottom. The drive shaft 30 passes through the two mounting holes of the double-eared hinge seat 17 and is hinged to the double-eared hinge seat 17 through the rotational support of the bearing or bushing. This provides a stable rotation fulcrum for the drive shaft 30 and ensures smooth and reliable power transmission.

[0042] This utility model also proposes a truss manipulator, including a truss body 50, a manipulator arm 51 and the aforementioned self-locking pneumatic gripper. The manipulator arm 51 is movably mounted on the truss body 50, and the base 10 is connected to the lower end of the manipulator arm 51, so that the manipulator arm 51 can move left and right and up and down along the truss body 50 with the pneumatic gripper to realize the transfer of workpieces.

[0043] Obviously, the embodiments described above are only some embodiments of this utility model, not all embodiments. The accompanying drawings show preferred embodiments of this utility model, but do not limit the patent scope of this utility model. This utility model can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Although this 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 specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this utility model specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this utility model.

Claims

1. A self-locking pneumatic gripper, characterized in that, include: Base (10), drive cylinder (20), drive shaft (30) and clamping mechanism (40); The drive cylinder (20) is mounted on the base (10), and the clamping mechanism (40) is hinged to the base (10) through the transmission shaft (30). The drive cylinder (20) is driven to the transmission shaft (30) and can drive the clamping mechanism (40) to open or close. The base (10) is provided with a retractable locking pin (11), and the drive shaft (30) is fixedly provided with a locking block (31). In the minimum retracted state of the clamping mechanism (40), the locking pin (11) can be extended to engage with the locking block (31), and the locking pin (11) can be shortened to separate from the locking block (31).

2. The self-locking pneumatic gripper according to claim 1, characterized in that, A positioning seat (12) is provided on the base (10), and a limiting rod (32) is fixedly connected to the transmission shaft (30). The positioning seat (12) is located on the swing path of the limiting rod (32). When the limiting rod (32) swings to abut against the inner end of the positioning seat (12), the clamping mechanism (40) reaches the minimum retracted state.

3. The self-locking pneumatic gripper according to claim 2, characterized in that, The positioning seat (12) is provided with an adjusting screw (121), the inner end of which can abut against the limiting rod (32).

4. The self-locking pneumatic gripper according to claim 3, characterized in that, The limiting rod (32) is arranged parallel to the axis of the locking block (31). The upper end of the locking block (31) is provided with a locking notch (311). When the limiting rod (32) abuts against the inner end of the adjusting screw (121), the locking notch (311) is located directly below the lower end of the locking pin (11).

5. The self-locking pneumatic gripper according to claim 4, characterized in that, A telescopic cylinder (13) is provided on the base (10), and the telescopic end of the telescopic cylinder (13) is coaxially connected to the upper end of the locking pin (11).

6. The self-locking pneumatic gripper according to claim 5, characterized in that, The clamping mechanism (40) includes two pairs of clamping jaws (41) arranged symmetrically facing each other. Two driving cylinders (20) are arranged symmetrically facing away from each other on the base (10). Each driving cylinder (20) is connected to a drive shaft (30) and each pair of clamping jaws (41) is connected to both ends of a drive shaft (30).

7. The self-locking pneumatic gripper according to claim 6, characterized in that, A crank (33) is fixedly connected to the middle of the drive shaft (30). The free end of the crank (33) is hinged to the telescopic end of the drive cylinder (20). The drive cylinder (20) can drive the crank (33) to swing around the axis of the drive shaft (30).

8. The self-locking pneumatic gripper according to claim 7, characterized in that, The base (10) is provided with a clearance hole (14) and parallel first clearance groove (15) and second clearance groove (16). The clearance hole (14) is used to avoid the locking pin (11), the first clearance groove (15) is used to avoid the limiting rod (32), and the second clearance groove (16) is used to avoid the crank (33).

9. The self-locking pneumatic gripper according to claim 8, characterized in that, The base (10) is provided with a double-eared hinge seat (17) at its bottom, and the drive shaft (30) is hinged to the double-eared hinge seat (17).

10. A gantry robot, characterized in that, The device includes a truss body (50), a robotic arm (51), and a self-locking pneumatic gripper as described in any one of claims 1-9. The robotic arm (51) is movably mounted on the truss body (50), and the base (10) is connected to the lower end of the robotic arm (51).

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