CN110065815A - A kind of pneumatic gripping device - Google Patents
A kind of pneumatic gripping device Download PDFInfo
- Publication number
- CN110065815A CN110065815A CN201910241229.7A CN201910241229A CN110065815A CN 110065815 A CN110065815 A CN 110065815A CN 201910241229 A CN201910241229 A CN 201910241229A CN 110065815 A CN110065815 A CN 110065815A
- Authority
- CN
- China
- Prior art keywords
- fixed
- clamp hand
- seat
- rotating shaft
- fixing seat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses a kind of pneumatic gripping devices, comprising: inside is the fixing seat of hollow structure；The flange of the upper surface of the fixing seat is set；The cylinder fixed seat being fixed on inside the fixing seat；Opposite and be mounted on the cylinder fixed seat with setting two cylinders；The floating junction being connected on the piston rod of the cylinder；The floating junction seat being fixed on the floating junction；The cylinder drive seat being tightly disposed on the floating junction seat；The clamp hand mounting plate being mounted in the cylinder drive seat；The clamp hand being fixed on the clamp hand mounting plate；The lower surface of the fixing seat and transmission connection are set in the connection component of the two clamp hand mounting plates；And it is mounted on the slide assemblies between the lower surface of fixing seat and the clamp hand mounting plate.The motion synchronicity for guaranteeing sandwich finger using link mechanism reduces the processing and assembly precision requirement of part, to reduce the manufacturing cost of clamping device.
Description
Technical field
The invention belongs to the clamping jaw technical fields in industrial automation, and it is to be related to a kind of pneumatic gripping device that spy is standby.
Background technique
There are two main classes for existing pneumatic gripping device: the first kind is installation self-control on the basis of Pneumatic clamping jaw goods shelf products
Finger part form clamping device；Second class is to drive the unilateral hand being mounted in linear guide by single compact cylinder
Refer to, and synchronizes driving another side finger composition clamping device by rack-and-pinion mould group.
Although the design of first kind clamping device is with using simply, Pneumatic clamping jaw goods shelf products are at high price, cause entire
Clamping device manufacturing cost is higher.Second class clamping device since rack-and-pinion mould group linkage structure is not adjustable, to part plus
Work and assembly precision are more demanding, so that manufacturing cost is also relatively high.
Summary of the invention
The present invention is to solve technical problem present in above-mentioned background technique, is distinguished using two independent compact cylinders
Sandwich finger is driven, enough clamping forces is capable of providing, guarantees that the movement of sandwich finger is same using link mechanism
Step property reduces the processing and assembly precision requirement of part, and can drive cylinder by replacement, and extend clamping device uses the longevity
Life, provides a kind of clamping device scheme of relatively low cost.
The present invention is realized using following technical scheme: a kind of pneumatic gripping device, comprising: inside is consolidating for hollow structure
Reservation；The flange of the upper surface of the fixing seat is set；The cylinder fixed seat being fixed on inside the fixing seat；It sets opposite to each other
Ground is mounted on two cylinders of the fixing seat；The floating junction being connected on the piston rod of the cylinder；It is fixed on described floating
Floating junction seat on dynamic connector；The cylinder drive seat being tightly disposed on the floating junction seat；The cylinder is mounted on to drive
Clamp hand mounting plate on dynamic seat；The clamp hand being fixed on the clamp hand mounting plate；The lower surface of the fixing seat and biography are set
The dynamic connection component for being connected to the two clamp hand mounting plates；And be mounted on fixing seat lower surface and the clamp hand mounting plate it
Between slide assemblies.
In a further embodiment, the connection component includes: the centre bit for being mounted on the lower surface of the fixing seat
The fixed rotating shaft one set；It is separately fixed on the clamp hand mounting plate and is located at the fixed rotating shaft of one two sides of fixed rotating shaft
Two；Center is socketed in the rotational swing rod on the fixed rotating shaft one；Two be respectively articulated with the both ends of the rotational swing rod
A oscillating bearing one；The connecting rod being fixedly connected with the oscillating bearing one；And the joint being fixedly connected with the connecting rod
Bearing two；The oscillating bearing two is socketed on the fixed rotating shaft two.
In a further embodiment, the slide assemblies include: lower surface and the position for being transversely mounted on the fixing seat
Line slide rail in the connection component two sides；And it is fixed on the sliding block of clamp hand mounting plate upper surface；The sliding block with
The sliding rail is mutually clamped.
In a further embodiment, the fixing seat includes: the upper mounted plate being fixedly connected with the flange；Fixation is set
Set the left connection board on the left of fixed plate；The right connection board being fixedly mounted on the right side of fixed plate；It is mounted on institute
State the preceding connecting plate on front side of upper mounted plate；Rear connecting plate on rear side of fixed plate is set；And it is bolted on
Bottom plate on the left connection board, right connection board, preceding connecting plate and rear connecting plate.
In a further embodiment, the clamp hand mounting plate is mounted by means of bolts in the cylinder drive seat；
The clamp hand is mounted by means of bolts on the clamp hand mounting plate.
In a further embodiment, fixing bolt is fixed on the fixed rotating shaft one, the fixing bolt is for preventing
Only rotational swing rod is fallen in rotation.
In a further embodiment, copper bush is provided between the rotational swing rod and the fixed rotating shaft one.
By using above-mentioned technical proposal: copper bush is for reducing friction.
In a further embodiment, the outer circumference surface of the fixed rotating shaft two is socketed with annular gasket, the air ring
Piece is between the fixed rotating shaft two and the oscillating bearing two.
By using above-mentioned technical proposal: the increase of the annular gasket ensure that fixed rotating shaft two with connecting rod same
On horizontal plane.
In a further embodiment, the both ends of the connecting rod are provided with external screw thread, the oscillating bearing one with it is described
The junction of connecting rod is provided with thread groove, is cooperated between the connecting rod and the oscillating bearing one by internal and external threads and is connected
It connects；
The oscillating bearing two and the junction of the connecting rod are provided with thread groove, the connecting rod and the oscillating bearing two
Between pass through internal and external threads be cooperatively connected.
By using above-mentioned technical proposal: the oscillating bearing two and oscillating bearing one at connecting rod and its both ends pass through screw thread
Connection, convenient for adjusting the total length of connecting filament, oscillating bearing one and oscillating bearing two.
Beneficial effects of the present invention: the present invention increases the clamping force of clamping device using double drive cylinder；Using connecting rod
Mechanism guarantees the motion synchronicity of sandwich finger, the processing and assembly precision requirement of part is reduced, to reduce
The manufacturing cost of clamping device；The service life of clamping device can be extended by replacement driving cylinder and other transmission parts.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of pneumatic gripping device of the invention.
Fig. 2 is a kind of view in transverse section of pneumatic gripping device of the invention.
Fig. 3 is a kind of longitdinal cross-section diagram of pneumatic gripping device of the invention.
Fig. 4 is the structural schematic diagram of the connection component in the present invention.
Fig. 5 is the structural schematic diagram of clamp hand in the present invention.
Each mark of the Fig. 1 into Fig. 5 are as follows: fixing seat 1, flange 2, cylinder fixed seat 3, cylinder 4, floating junction 5, floating connects
Headstock 6, cylinder drive seat 7, clamp hand mounting plate 8, clamp hand 9, fixed rotating shaft 1, fixed rotating shaft 2 11, rotational swing rod 12, joint
Bearing 1, connecting rod 14, oscillating bearing 2 15, line slide rail 16, sliding block 17, fixing bolt 18, copper bush 19, annular gasket
20。
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " on ", "lower", "front", "rear", "left", "right", "top",
The orientation or positional relationship of the instructions such as "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with
Specific orientation construction and operation, therefore be not considered as limiting the invention.
The present invention discloses a kind of pneumatic gripping device, comprising: fixing seat 1, cylinder fixed seat 3, cylinder 4, is floated at flange 2
Connector 5, cylinder drive seat 7, clamp hand mounting plate 8, clamp hand 9, fixed rotating shaft 1, fixed rotating shaft 2 11, turns floating junction seat 6
Movable pendulum bar 12, oscillating bearing 1, connecting rod 14, oscillating bearing 2 15, line slide rail 16, sliding block 17, fixing bolt 18, brass
Cover 19, annular gasket 20.
As shown in Figures 1 to 5, the inside of the fixing seat 1 is hollow structure, and the fixing seat 1 can be cuboid, pros
The hexahedrons such as body.The left and right sides of the fixing seat 1 is equipped with opening.The fixing seat 1 can include: upper mounted plate, left connection board,
Right connection board, preceding connecting plate, rear connecting plate and bottom plate.Wherein fixed plate is fixedly connected with the flange 2, described
Left connection board is fixed on the left side of fixed plate, and the right connection board is fixed on the right side of fixed plate, before described
Connecting plate is mounted on the front side of fixed plate, and the rear side of fixed plate is arranged in the rear connecting plate, described lower solid
Fixed board is bolted on the left connection board, right connection board, preceding connecting plate and rear connecting plate.Wherein for the ease of cylinder
U-type groove is provided in the disengaging of 4 piston rod, the left connection board and the right connection board.
The cylinder fixed seat 3 is fixedly mounted on the inside of the fixing seat 1, and cylinder 4 is two compact cylinders 4, and
Described two compact cylinders 4 are opposite and are mounted on setting in the cylinder fixed seat 3, and the floating junction 5 is connected to described
On the piston rod of compact cylinder 4, the floating junction seat 6 is fixed on the floating junction 5；The cylinder drive seat 7 is tight
Close to be arranged on the floating junction seat 6, cylinder drive seat 7 is under the driving of cylinder 4, in the U-type groove internal slide.
The rotational swing rod 12, oscillating bearing 1, connecting rod 14 be connected with oscillating bearing 2 15 after in fixed rotating shaft one
It is rotated on 10, ensure that the synchronism of both sides clamp hand 9.
9 mounting plate 8 of clamp hand is fixed by screws in the cylinder drive seat 7, and the clamp hand 9 is installed by screw
On 9 mounting plate 8 of clamp hand.The clamp hand 9 is L-type, opposite and set, and L-type clamp hand 9 is reserved with mounting hole, can with it is not of the same race
Class sets off cooperation, so as to be suitable for different workpiece.
In order to control the closure of clamp hand 9, it is provided with connection component, the connection component is arranged under the fixing seat 1
Surface and transmission connection in two 9 mounting plates 8 of clamp hand.The connection component includes: fixed rotating shaft 1, fixed rotating shaft two
11, rotational swing rod 12, oscillating bearing 1 and connecting rod 14.Wherein, the fixed rotating shaft 1 is mounted on the fixing seat 1
The center of lower surface, the number of the fixed rotating shaft 2 11 are 2, are separately fixed on 9 mounting plate 8 of clamp hand and position
In one 10 two sides of fixed rotating shaft, the center of the rotational swing rod 12 is socketed on the fixed rotating shaft 1, described
Oscillating bearing 1 is two, is respectively hinged at the both ends of the rotational swing rod 12.The connecting rod 14 be two, respectively with institute
It states oscillating bearing 1 to be fixedly connected, the oscillating bearing 2 15 is fixedly connected with the connecting rod 14, and is socketed in corresponding
On fixed rotating shaft 2 11.
Fixing bolt 18 is fixed on the fixed rotating shaft 1, the fixing bolt 18 is for preventing rotational swing rod 12 from existing
It is fallen when rotation.
Copper bush 19 is provided between the rotational swing rod 12 and the fixed rotating shaft 1.Copper bush 19 rubs for reducing
It wipes.
The outer circumference surface of the fixed rotating shaft 2 11 is socketed with annular gasket 20, and the annular gasket 20 is located at the fixation
Between shaft 2 11 and the oscillating bearing 2 15.The increase of the annular gasket 20 ensure that fixed rotating shaft 2 11 and connecting rod 14
In same level.
For the ease of regulation connecting filament, oscillating bearing 1 and oscillating bearing 2 15 total length, connecting rod 14 and its two
The oscillating bearing 2 15 and oscillating bearing 1 at end are connected through a screw thread.The both ends of the connecting rod 14 are provided with external screw thread,
The junction of the oscillating bearing 1 and the connecting rod 14 is provided with thread groove, the connecting rod 14 and the oscillating bearing
It is cooperatively connected between one 13 by internal and external threads；The oscillating bearing 2 15 and the junction of the connecting rod 14 are provided with screw thread
Slot is cooperatively connected between the connecting rod 14 and the oscillating bearing 2 15 by internal and external threads.
Translated to remain clamp hand 9 in a straight line, the slide assemblies be mounted on the lower surface of fixing seat 1 with
Between 9 mounting plate 8 of clamp hand.
The slide assemblies include: to be transversely mounted on the lower surface of the fixing seat 1 and be located at the connection component two sides
Line slide rail 16；And it is fixed on the sliding block 17 of 9 mounting plate of clamp hand, 8 upper surface；The sliding block 17 and the sliding rail phase
Clamping.
The working principle of the invention: compact cylinder rodless cavity air inlet, piston rod stretch out, since floating junction one end connects
On the piston rod of compact cylinder, the other end is combined together with floating junction seat, and floating junction seat is fixed on cylinder driving
It on seat, and connects bolt and clamp hand mounting plate and cylinder drive seat is linked together, clamp hand is fixed on clamp hand by fixing bolt
On mounting plate, clamp hand mounting plate is mounted on two sliding blocks of slide assemblies, and the guide rail in slide assemblies is fixed under fixture solid
On fixed board, fixture connecting flange jockey upper mounted plate and robot end, therefore, compact cylinder rodless cavity air inlet are living
Stopper rod stretches out, and clamp hand opens；Conversely, compact cylinder rod chamber air inlet, piston rod is retracted, and clamp hand closure clamps workpiece.
For those skilled in the art, it is possible to understand that without departing from the principles and spirit of the present invention may be used
To carry out a variety of change, modification, replacement and modification to these embodiments, the scope of the present invention is by appended claims and its is equal
Object limits.
Claims (9)
1. a kind of pneumatic gripping device characterized by comprising inside is the fixing seat of hollow structure；It is arranged in the fixation
The flange of the upper surface of seat；The cylinder fixed seat being fixed on inside the fixing seat；It is mounted on the cylinder opposite to each other with setting solid
Two cylinders of reservation；The floating junction being connected on the piston rod of the cylinder；The floating being fixed on the floating junction
Plinth；The cylinder drive seat being tightly disposed on the floating junction seat；The clamp hand peace being mounted in the cylinder drive seat
Loading board；The clamp hand being fixed on the clamp hand mounting plate；The lower surface of the fixing seat and transmission connection are set described in two
The connection component of clamp hand mounting plate；And it is mounted on the slide assemblies between the lower surface of fixing seat and the clamp hand mounting plate.
2. a kind of pneumatic gripping device according to claim 1, which is characterized in that the connection component includes: to be mounted on
The fixed rotating shaft one of the center of the lower surface of the fixing seat；It is separately fixed on the clamp hand mounting plate and is located at described
The fixed rotating shaft two of one two sides of fixed rotating shaft；Center is socketed in the rotational swing rod on the fixed rotating shaft one；With described turn
Two oscillating bearings one that the both ends of movable pendulum bar are respectively articulated with；The connecting rod being fixedly connected with the oscillating bearing one；And with
The oscillating bearing two that the connecting rod is fixedly connected；The oscillating bearing two is socketed on the fixed rotating shaft two.
3. a kind of pneumatic gripping device according to claim 1, which is characterized in that the slide assemblies include: lateral peace
Lower surface mounted in the fixing seat and the line slide rail positioned at the connection component two sides；And it is fixed on the clamp hand installation
The sliding block of plate upper surface；The sliding block is mutually clamped with the sliding rail.
4. a kind of pneumatic gripping device according to claim 1, which is characterized in that the fixing seat includes: and the method
The upper mounted plate that orchid is fixedly connected；The left connection board being fixed on the left of fixed plate；It is fixedly mounted on described solid
Right connection board on the right side of fixed board；The preceding connecting plate being mounted on front side of fixed plate；It is arranged on rear side of fixed plate
Connecting plate afterwards；And it is bolted on the lower fixation on the left connection board, right connection board, preceding connecting plate and rear connecting plate
Plate.
5. a kind of pneumatic gripping device according to claim 1, which is characterized in that the clamp hand mounting plate is solid by bolt
Dingan County is in the cylinder drive seat；The clamp hand is mounted by means of bolts on the clamp hand mounting plate.
6. a kind of pneumatic gripping device according to claim 2, which is characterized in that be fixed on the fixed rotating shaft one
Determine bolt, the fixing bolt is for preventing rotational swing rod from falling in rotation.
7. a kind of pneumatic gripping device according to claim 2, which is characterized in that the rotational swing rod and the fixation turn
Copper bush is provided between axis one.
8. a kind of pneumatic gripping device according to claim 2, which is characterized in that the outer circumference surface of the fixed rotating shaft two
It is socketed with annular gasket, the annular gasket is between the fixed rotating shaft two and the oscillating bearing two.
9. a kind of pneumatic gripping device according to claim 2, which is characterized in that the both ends of the connecting rod are provided with outer
Screw thread, the oscillating bearing one and the junction of the connecting rod are provided with thread groove, the connecting rod and the oscillating bearing
It is cooperatively connected between one by internal and external threads；
The oscillating bearing two and the junction of the connecting rod are provided with thread groove, the connecting rod and the oscillating bearing two
Between pass through internal and external threads be cooperatively connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910241229.7A CN110065815B (en) | 2019-03-28 | 2019-03-28 | Pneumatic clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910241229.7A CN110065815B (en) | 2019-03-28 | 2019-03-28 | Pneumatic clamping device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110065815A true CN110065815A (en) | 2019-07-30 |
| CN110065815B CN110065815B (en) | 2020-05-19 |
Family
ID=67366628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910241229.7A Active CN110065815B (en) | 2019-03-28 | 2019-03-28 | Pneumatic clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110065815B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113753569A (en) * | 2021-09-30 | 2021-12-07 | 英业达(重庆)有限公司 | Clamping device |
| CN114808114A (en) * | 2022-03-23 | 2022-07-29 | 隆基绿能科技股份有限公司 | Crystal pulling method and single crystal furnace |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4145078A (en) * | 1976-01-31 | 1979-03-20 | Stierlen-Maquet Aktiengesellschaft | Loading and unloading station for conveyors with overhead trolley drives |
| CN204627469U (en) * | 2015-04-09 | 2015-09-09 | 于宝民 | Big orifice high-torque hydraulic twisting machine |
| CN206154332U (en) * | 2016-11-01 | 2017-05-10 | 中车齐齐哈尔车辆有限公司大连研发中心 | Anchor clamps and have its arm |
| CN206254086U (en) * | 2016-11-22 | 2017-06-16 | 广州市鹰图智能科技有限公司 | Automation linkage clamp device |
| US9850105B1 (en) * | 2015-05-04 | 2017-12-26 | Contractors & Industrial Supply Company, Inc. | Vertical automatic addition tong apparatus |
| US9956691B1 (en) * | 2017-10-10 | 2018-05-01 | JLS Automation | Automated gripping tool |
-
2019
- 2019-03-28 CN CN201910241229.7A patent/CN110065815B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4145078A (en) * | 1976-01-31 | 1979-03-20 | Stierlen-Maquet Aktiengesellschaft | Loading and unloading station for conveyors with overhead trolley drives |
| CN204627469U (en) * | 2015-04-09 | 2015-09-09 | 于宝民 | Big orifice high-torque hydraulic twisting machine |
| US9850105B1 (en) * | 2015-05-04 | 2017-12-26 | Contractors & Industrial Supply Company, Inc. | Vertical automatic addition tong apparatus |
| CN206154332U (en) * | 2016-11-01 | 2017-05-10 | 中车齐齐哈尔车辆有限公司大连研发中心 | Anchor clamps and have its arm |
| CN206254086U (en) * | 2016-11-22 | 2017-06-16 | 广州市鹰图智能科技有限公司 | Automation linkage clamp device |
| US9956691B1 (en) * | 2017-10-10 | 2018-05-01 | JLS Automation | Automated gripping tool |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113753569A (en) * | 2021-09-30 | 2021-12-07 | 英业达(重庆)有限公司 | Clamping device |
| CN114808114A (en) * | 2022-03-23 | 2022-07-29 | 隆基绿能科技股份有限公司 | Crystal pulling method and single crystal furnace |
| WO2023179081A1 (en) * | 2022-03-23 | 2023-09-28 | 隆基绿能科技股份有限公司 | Crystal pulling method and single crystal furnace |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110065815B (en) | 2020-05-19 |
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Effective date of registration: 20220113 Address after: 211500 No. 59 Wang Qiao Road, Xiongzhou Street, Liuhe District, Nanjing City, Jiangsu Province Patentee after: Nanjing Shanhang Intelligent Technology Co.,Ltd. Address before: 210000 300 Chi Hui Road, Qilin science and Technology Innovation Park, Jiangning District, Nanjing, Jiangsu Patentee before: NANJING BOYO INTELLIGENT TECHNOLOGY CO.,LTD. |