CN103406913B - A kind of three claw robot being made up of three groups of slider-crank mechanisms - Google Patents
A kind of three claw robot being made up of three groups of slider-crank mechanisms Download PDFInfo
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- CN103406913B CN103406913B CN201310334249.1A CN201310334249A CN103406913B CN 103406913 B CN103406913 B CN 103406913B CN 201310334249 A CN201310334249 A CN 201310334249A CN 103406913 B CN103406913 B CN 103406913B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 27
- 210000000078 claw Anatomy 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
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Abstract
The invention discloses a kind of three claw robot being made up of three groups of slider-crank mechanisms, wherein three groups of slider-crank mechanism circumference on stamper are equally spaced, and share a crank.Any group of slider-crank mechanism is made up of finger slide, connecting rod, stamper, rotating disk.The same cylinders of finger slide of one of which slider-crank mechanism, is realized opening and closing of finger by the action of cylinder, three fingers can the most centripetal or centrifugal slip, the centering of cylindrical work can be realized.
Description
Technical field
The invention belongs to mechanical hand manufacturing technology field, relate to a kind of three claw robot being made up of three groups of slider-crank mechanisms.
Background technology
Along with the progress of the productivity, the automatization of production popularizes, and mechanical hand plays important role.Existing machinery hands mostly is two pawls, only has two contact points during snatching cylindrical object, the most firm, the situation of object landing easily occurs, affects work efficiency.The mechanical hand of three-jaw the most progressively occur, but structure is complicated mostly, each component shape is irregular, and complex manufacturing adds production cost undoubtedly.
Summary of the invention
It is an object of the invention to the defect overcoming prior art to exist, it is provided that the three claw robot that a kind of simple in construction, crawl are made up of accurately three groups of slider-crank mechanisms.
The technical scheme realizing the object of the invention is: a kind of three claw robot being made up of three groups of slider-crank mechanisms, has three connecting rods of rotating disk and finger slide including stamper, rotating disk, three finger slide being positioned on stamper and connection；Described stamper center is provided with a manhole, and outer, described manhole upper end is provided with an annular groove, and described rotating disk is positioned at annular groove, and is rotationally connected with annular groove；Described stamper upper end is also radially provided with three strip grooves, in described finger slide is inserted into strip groove and is slidably connected with strip groove.
Technique scheme, described connecting rod is fixed on rotating disk by hex screw one end, and the other end fastens with finger slide and is connected.
Technique scheme, described wherein finger slide outer end connect have cylinder, described cylinder to include cylinder baffle and cylinder piston, described finger slide are welded to connect with cylinder piston one end.
Technique scheme, is additionally provided with fixed support between described stamper and cylinder, described fixed support is welded to connect with stamper and cylinder baffle.
Technique scheme, described three finger slide and three strip groove isoperimetrics are away from being distributed on stamper.
After using technique scheme, the present invention has following positive effect: the present invention is a kind of three claw robot being made up of three groups of slider-crank mechanisms, and wherein three groups of slider-crank mechanism circumference on stamper are equally spaced, and shares a crank；Any group of slider-crank mechanism is made up of finger slide, connecting rod, stamper, rotating disk.The finger slide of one of which slider-crank mechanism welds with cylinder piston, the action of cylinder realize opening and closing of finger, three fingers can the most centripetal or centrifugal slip, the centering of cylindrical work can be realized.Present configuration is simple, can capture object many, captures cylinder firm, and processing technology is simple, is suitable to large-scale industry and promotes.
Accompanying drawing explanation
A kind of integrally-built schematic three dimensional views of the three claw robot being made up of three groups of slider-crank mechanisms that Fig. 1 provides for the present invention
Fig. 2 is that the three claw robot that kind provided by the present invention is made up of three groups of slider-crank mechanisms rotates Section View
Fig. 3 is the top view of a kind of three claw robot being made up of three groups of slider-crank mechanisms provided by the present invention
Fig. 4 is the partial cutaway view of a kind of three claw robot being made up of three groups of slider-crank mechanisms provided by the present invention
Fig. 5 is the another partial cutaway view of a kind of three claw robot being made up of three groups of slider-crank mechanisms provided by the present invention
Fig. 6 is the explosive view of a kind of three claw robot being made up of three groups of slider-crank mechanisms provided by the present invention
Fig. 7 is the plane mechanism schematic diagram of a kind of three claw robot being made up of three groups of slider-crank mechanisms provided by the present invention.
Detailed description of the invention
In conjunction with Fig. 1 to Fig. 7, the present invention includes stamper 1, rotating disk 2, three finger slide 3 being positioned on stamper 1 and connects three connecting rods 4 having rotating disk 2 with finger slide 3；Stamper 1 center is provided with a manhole 11, and outer, manhole 11 upper end is provided with an annular groove 12, and rotating disk 2 is positioned at annular groove 12, and can annularly groove 12 around stamper 1 center rotating；Stamper 1 upper end is also radially provided with three strip grooves 13, in finger slide 3 is inserted into strip groove 13 and is slidably connected with strip groove 13, can radially slide along strip groove 13.Connecting rod 4 is fixed on rotating disk 2 by hex screw 5 one end, and the other end fastens with finger slide 3 and is connected.
Wherein finger slide 3 outer end connect have cylinder 6, cylinder 6 to include cylinder baffle 61 and cylinder piston 62, finger slide 3 are welded to connect with cylinder piston 62 one end.Being additionally provided with fixed support 7 between stamper 1 and cylinder 6, fixed support 7 is welded to connect with stamper 1 and cylinder baffle 61, fixed support 7 fixing effect of playing cylinder is set.
Three finger slide 3, with connecting rod 4, stamper 1, rotating disk 2 mounting means identical, three finger slide 3 and three strip groove 13 isoperimetrics are away from being distributed on stamper 1.
Operation principle of the present invention: the present invention can represent with plane mechanism principle sketch (Fig. 7), and wherein finger slide constitutes moving sets with stamper, forms revolute pair with connecting rod；Connecting rod can regard a crank as around stamper center rotating with rotating disk hinged formation revolute pair, rotating disk.I.e. finger slide, connecting rod, stamper, rotating disk forms one group of slider-crank mechanism, and the present invention is decomposed into three groups of slider-crank mechanisms, and three groups of slider-crank mechanisms are with a crank (rotating disk).When a slide block moves away from (close), two other slide block moves in the same way.
Claims (2)
1. the three claw robot being made up of three groups of slider-crank mechanisms, it is characterised in that: include that stamper (1), rotating disk (2), three finger slide (3) being positioned on stamper (1) and connection have three connecting rods (4) of rotating disk (2) and finger slide (3)；Described stamper (1) center is provided with a manhole (11), and described manhole (11) outer, upper end is provided with an annular groove (12), and described rotating disk (2) is positioned at annular groove (12), and is rotationally connected with annular groove (12)；Described stamper (1) upper end is also radially provided with three strip grooves (13), in described finger slide (3) is inserted into strip groove (13) and is slidably connected with strip groove (13)；Described three finger slide (3) and three strip groove (13) isoperimetrics are away from being distributed on stamper (1)；Described wherein finger slide (3) outer end connects has cylinder (6), described cylinder (6) to include cylinder baffle (61) and cylinder piston (62), and described finger slide (3) is welded to connect with cylinder piston (62) one end;Described connecting rod (4) is fixed on rotating disk (2) by hex screw (5) one end, and the other end fastens with finger slide (3) and is connected.
The most according to claim 1OnePlant the three claw robot being made up of three groups of slider-crank mechanisms, it is characterised in that:
Being additionally provided with fixed support (7) between described stamper (1) and cylinder (6), described fixed support (7) is welded to connect with stamper (1) and cylinder baffle (61).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310334249.1A CN103406913B (en) | 2013-08-05 | 2013-08-05 | A kind of three claw robot being made up of three groups of slider-crank mechanisms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310334249.1A CN103406913B (en) | 2013-08-05 | 2013-08-05 | A kind of three claw robot being made up of three groups of slider-crank mechanisms |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103406913A CN103406913A (en) | 2013-11-27 |
| CN103406913B true CN103406913B (en) | 2016-08-10 |
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| CN201310334249.1A Active CN103406913B (en) | 2013-08-05 | 2013-08-05 | A kind of three claw robot being made up of three groups of slider-crank mechanisms |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605419A (en) * | 2018-12-11 | 2019-04-12 | 上海宇航系统工程研究所 | A kind of multiple dimensioned software grabbing device of multiple degrees of freedom |
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| CN104071569A (en) * | 2014-07-03 | 2014-10-01 | 安徽江淮汽车股份有限公司 | Gripping device |
| CN105171766B (en) * | 2015-07-31 | 2017-04-26 | 苏州互盟信息存储技术有限公司 | Outer edge type disk grabbing device and method for loading optical disks through disk grabbing device |
| CN106847044B (en) * | 2017-01-18 | 2023-08-11 | 重庆交通大学 | Teaching aid for coaxial reciprocating motion mechanism and demonstration method thereof |
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| CN114354127A (en) * | 2021-04-27 | 2022-04-15 | 武汉长盈通光电技术股份有限公司 | Automatic test mechanism for coaxial packaging laser |
| CN118024227B (en) * | 2024-04-12 | 2024-06-25 | 四川航天职业技术学院(四川航天高级技工学校) | Industrial robot with good clamping effect |
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| CN109605419A (en) * | 2018-12-11 | 2019-04-12 | 上海宇航系统工程研究所 | A kind of multiple dimensioned software grabbing device of multiple degrees of freedom |
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| CN103406913A (en) | 2013-11-27 |
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Effective date of registration: 20190325 Address after: 225200 Longchuan Industrial Park, Jiangdu District, Yangzhou City, Jiangsu Province Patentee after: JIANGSU TEWEI MACHINE TOOL MANUFACTURING CO.,LTD. Address before: No. 301, Xuefu Road, Jingkou District, Zhenjiang, Jiangsu Province Patentee before: Jiangsu University |
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Effective date of registration: 20230810 Address after: 225200 Xiancheng Industrial Park, Xiannv Town, Jiangdu District, Yangzhou City, Jiangsu Province Patentee after: Yangzhou Xianfa Construction Co.,Ltd. Address before: 225200 Longchuan Industrial Park, Jiangdu District, Yangzhou City, Jiangsu Province Patentee before: JIANGSU TEWEI MACHINE TOOL MANUFACTURING CO.,LTD. |
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Effective date of registration: 20231206 Address after: Room 325, No. 1468 Wenchang East Road, Xiannu Town, Jiangdu District, Yangzhou City, Jiangsu Province, 225200 Patentee after: Tingbai (Yangzhou) Intelligent Technology Co.,Ltd. Address before: 225200 Xiancheng Industrial Park, Xiannv Town, Jiangdu District, Yangzhou City, Jiangsu Province Patentee before: Yangzhou Xianfa Construction Co.,Ltd. |