CN107756427A - A kind of damping and slide-prevention type automatic mechanical hand - Google Patents
A kind of damping and slide-prevention type automatic mechanical hand Download PDFInfo
- Publication number
- CN107756427A CN107756427A CN201711182684.1A CN201711182684A CN107756427A CN 107756427 A CN107756427 A CN 107756427A CN 201711182684 A CN201711182684 A CN 201711182684A CN 107756427 A CN107756427 A CN 107756427A
- Authority
- CN
- China
- Prior art keywords
- clamping
- grip block
- pedestal
- damping
- slide
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to manipulator technical field,Especially a kind of damping and slide-prevention type automatic mechanical hand,Including pedestal,The both sides of the pedestal are arranged with clamping device,The clamping device includes clamping limb and grip block,The one end of the clamping limb away from pedestal is connected with mounting seat,The clamping hydraulic cylinder being parallel to each other with pedestal is mounted in the mounting seat,The clamping hydraulic cylinders of two clamping devices is vertically connected with pressing plate on one end close to each other,Multiple depression bars are vertically connected with the pressing plate,The present invention substitutes traditional rigidity clamping using the grip block that can slightly move,Rigidity extruding, which can be reduced, causes impression to weigh wounded object surface,The uniform bar-shaped trough of clamping plate surface and elastic strip,The frictional force to object surface can be effectively improved,Grip block is coordinated to carry out fixed point clamping,Overall skidproof effect can be effectively improved,And it is provided with damping spring,Play good damping effect.
Description
Technical field
The present invention relates to manipulator technical field, more particularly to a kind of damping and slide-prevention type automatic mechanical hand.
Background technology
Manipulator is a kind of some holding functions that can imitate human hand and arm, to be captured by fixed routine, carry object
Or the automatic pilot of operation instrument.Feature is that various expected operations can be completed by programming, on construction and performance
The advantages of having people and robotics concurrently each.
Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, and it can be instead of the numerous of people
Heavy work can be operated to protect personal safety with realizing the mechanization of production and automation under hostile environment, thus extensively should
For departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator of the prior art, in order to prevent from releasing, typically uses higher chucking power in clamping process, this appearance
It is bad by folder to easily cause clamped part, influences product surface quality, and damping effect is also poor in clamping process, easily causes
Clamped part vibrations damage.
The content of the invention
The invention aims to solve to have the shortcomings that antiskid, shock-absorbing effect difference in the prior art, and the one kind proposed
Damping and slide-prevention type automatic mechanical hand.
To achieve these goals, present invention employs following technical scheme：
A kind of damping and slide-prevention type automatic mechanical hand is designed, including pedestal, the both sides of the pedestal are arranged with clamping machine
Structure, the clamping device include clamping limb and grip block, and the one end of the clamping limb away from pedestal is connected with mounting seat, the peace
The clamping hydraulic cylinder being parallel to each other with pedestal is mounted on dress seat, the clamping hydraulic cylinder of two clamping devices is close to each other
One end on be vertically connected with pressing plate, multiple depression bars are vertically connected with the pressing plate, the depression bar passes perpendicularly through grip block
And end is connected with grip block, multiple and grip block is equipped with the grip blocks of two clamping devices one side close to each other
The mounting groove of form fit, the grip block are installed in mounting groove, and the depression bar outer cover is equipped with damping spring, the damping
The both ends of spring are connected with grip block and pressing plate respectively, in the grip blocks of two clamping devices one side close to each other staggeredly
Provided with the bar-shaped trough and elastic strip being parallel to each other.
Preferably, one side of the pedestal away from clamping hydraulic cylinder is vertically connected with connecting rod, and the connecting rod is stainless steel.
Preferably, the pedestal is provided with the chute parallel with clamping hydraulic cylinder, the folder close to the one side of clamping hydraulic cylinder
The side for holding plate is fixedly connected with sliding block, and the sliding block is slidably mounted in chute.
Preferably, the elastic strip is that section is semicircular rubber mass strip.
Preferably, the grip block surface is evenly equipped with anti-slop serrations.
A kind of damping and slide-prevention type automatic mechanical hand proposed by the present invention, beneficial effect are：The present invention uses can be light
The dynamic grip block of micro-shifting substitutes traditional rigidity clamping, can reduce rigidity extruding and cause impression to weigh wounded object surface, clamp
The uniform bar-shaped trough of plate surface and elastic strip, the frictional force to object surface can be effectively improved, coordinate grip block to carry out fixed point folder
Hold, overall skidproof effect can be effectively improved, and be provided with damping spring, play good damping effect.
Brief description of the drawings
Fig. 1 is a kind of structural representation of damping and slide-prevention type automatic mechanical hand proposed by the present invention；
Fig. 2 is the structural representation at A in a kind of Fig. 1 of damping and slide-prevention type automatic mechanical hand proposed by the present invention.
In figure：Pedestal 1, clamping limb 2, clamping hydraulic cylinder 3, damping spring 4, grip block 5, grip block 6, depression bar 7, pressing plate 8,
Mounting seat 9, sliding block 10, connecting rod 11, chute 12, mounting groove 13, anti-slop serrations 14, bar-shaped trough 15, elastic strip 16.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
Reference picture 1-2, a kind of damping and slide-prevention type automatic mechanical hand, including pedestal 1, pedestal 1 is away from clamping hydraulic cylinder 3
Connecting rod 11 is simultaneously vertically connected with, connecting rod 11 is stainless steel.Connecting rod 11 plays a part of being connected with drive mechanism, from
And control machinery hand is facilitated to move.
The both sides of pedestal 1 are arranged with clamping device, and clamping device includes clamping limb 2 and grip block 5, and clamping limb 2 is remote
One end of pedestal 1 is connected with mounting seat 9, and the clamping hydraulic cylinder 3 being parallel to each other with pedestal 1, two folders are mounted in mounting seat 9
Hold and be vertically connected with pressing plate 8 on one end close to each other of clamping hydraulic cylinder 3 of mechanism, multiple pressures are vertically connected with pressing plate 8
Bar 7, depression bar 7 passes perpendicularly through grip block 5 and end is connected with grip block 6, and the surface of grip block 6 is evenly equipped with anti-slop serrations 14.Two folders
Hold the clamping hydraulic stem 3 in mechanism drives pressing plate 8 to move towards respectively, and so as to provide clamping force, grip block 6 is straight by depression bar 7
Connect and be connected with pressing plate 8, fixed point can be played a part of and rigidly clamped, anti-slop serrations 14 can increase the friction system on the surface of grip block 6
Number, prevents from skidding.
It is equipped with the grip blocks 5 of two clamping devices one side close to each other multiple with the form fit of grip block 6 peace
Tankage 13, grip block 6 are installed in mounting groove 13, and the outer cover of depression bar 7 is equipped with damping spring 4, the both ends of damping spring 4 respectively with
Grip block 5 and pressing plate 8 are connected, and the bar being parallel to each other staggeredly is provided with the grip blocks 5 of two clamping devices one side close to each other
Shape groove 15 and elastic strip 16.Elastic strip 16 is that section is semicircular rubber mass strip.Grip block 6 to object when clamping
It can be slided along depression bar 7, so that clamping face has certain flexibility, so as to avoid local stress is excessive from causing to weigh work wounded
Part, bar-shaped trough 15 and elastic strip 16 play increase clamping face coefficient of friction, prevent the effect skidded, and damping spring 4 is used to provide
Elastic force so that grip block 6 press against in object surface, while also can damping, buffering, consume vibration energy, reduce vibrations to object
Infringement.
Pedestal 1 is provided with the chute 12 parallel with clamping hydraulic cylinder 3, the side of grip block 5 close to the one side of clamping hydraulic cylinder 3
Sliding block 10 is fixedly connected with, sliding block 10 is slidably mounted in chute 12.Chute 12 coordinates to play with sliding block 10 to be carried out to grip block 5
The effect of guiding, the telescopic direction for preventing from clamping hydraulic stem 3 glance off.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all be included within the scope of the present invention.
Claims (5)
1. a kind of damping and slide-prevention type automatic mechanical hand, including pedestal (1), it is characterised in that：The both sides of the pedestal (1) are symmetrical
Provided with clamping device, the clamping device includes clamping limb (2) and grip block (5), the remote pedestal (1) of the clamping limb (2)
One end is connected with mounting seat (9), and the clamping hydraulic cylinder (3) being parallel to each other with pedestal (1) is mounted on the mounting seat (9),
The clamping hydraulic cylinders (3) of two clamping devices is vertically connected with pressing plate (8), the pressing plate on one end close to each other
(8) multiple depression bars (7) are vertically connected with, the depression bar (7) passes perpendicularly through grip block (5) and end is connected with grip block (6),
It is equipped with the grip blocks (5) of two clamping devices one side close to each other multiple with grip block (6) form fit peace
Tankage (13), the grip block (6) are installed in mounting groove (13), and depression bar (7) outer cover is equipped with damping spring (4), institute
The both ends for stating damping spring (4) are connected with grip block (5) and pressing plate (8) respectively, grip block (5) phase of two clamping devices
The bar-shaped trough (15) and elastic strip (16) being parallel to each other mutually staggeredly are provided with close one side.
A kind of 2. damping and slide-prevention type automatic mechanical hand according to claim 1, it is characterised in that：Pedestal (1) is away from folder
The one side for holding hydraulic cylinder (3) is vertically connected with connecting rod (11), and the connecting rod (11) is stainless steel.
A kind of 3. damping and slide-prevention type automatic mechanical hand according to claim 1, it is characterised in that：The pedestal (1) is leaned on
The one side of nearly clamping hydraulic cylinder (3) is provided with the chute (12) parallel with clamping hydraulic cylinder (3), and the side of the grip block (5) is consolidated
Surely sliding block (10) is connected with, the sliding block (10) is slidably mounted in chute (12).
A kind of 4. damping and slide-prevention type automatic mechanical hand according to claim 1, it is characterised in that：The elastic strip (16)
It is semicircular rubber mass strip for section.
A kind of 5. damping and slide-prevention type automatic mechanical hand according to claim 1, it is characterised in that：The grip block (6)
Surface is evenly equipped with anti-slop serrations (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711182684.1A CN107756427A (en) | 2017-11-23 | 2017-11-23 | A kind of damping and slide-prevention type automatic mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711182684.1A CN107756427A (en) | 2017-11-23 | 2017-11-23 | A kind of damping and slide-prevention type automatic mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107756427A true CN107756427A (en) | 2018-03-06 |
Family
ID=61278758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711182684.1A Withdrawn CN107756427A (en) | 2017-11-23 | 2017-11-23 | A kind of damping and slide-prevention type automatic mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107756427A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108500165A (en) * | 2018-05-28 | 2018-09-07 | 无锡市金杨新型电源有限公司 | A kind of punching press transfer manipulator |
| CN108670423A (en) * | 2018-03-28 | 2018-10-19 | 安徽唯诗杨信息科技有限公司 | A kind of medical treatment precision instrument protection instrument |
| CN109436822A (en) * | 2018-10-27 | 2019-03-08 | 合肥雄鹰自动化工程科技有限公司 | A kind of classifiable automatic docking device |
| CN109865967A (en) * | 2019-03-04 | 2019-06-11 | 安徽理工大学 | A kind of machine components welding crawl robot |
| CN110064469A (en) * | 2019-04-22 | 2019-07-30 | 五矿（湖南）铁合金有限责任公司 | A kind of automatic centering centering and clamping apparatus |
| CN110228706A (en) * | 2019-06-19 | 2019-09-13 | 孔潇箫 | A kind of adjust automatically gripper of industrial robot |
| CN110549101A (en) * | 2019-08-20 | 2019-12-10 | 大亚湾核电运营管理有限责任公司 | core removing device of multiplex high-efficiency filter of nuclear power station |
| CN110879201A (en) * | 2019-12-10 | 2020-03-13 | 江苏理工学院 | Product detection device |
| CN110884661A (en) * | 2019-12-06 | 2020-03-17 | 湖南浩天翼航空技术有限公司 | Transportation unmanned aerial vehicle convenient to press from both sides express delivery and get |
| CN111890383A (en) * | 2020-08-11 | 2020-11-06 | 江苏昱博自动化设备有限公司 | Four-way rotating seat type power-assisted manipulator |
| CN112045697A (en) * | 2020-08-31 | 2020-12-08 | 重庆文理学院 | Self-adaptation subassembly and clamping jaw |
| CN112405074A (en) * | 2020-10-16 | 2021-02-26 | 淄博凯雷得汽车零部件有限公司 | Single leaf spring centre gripping feed mechanism |
| CN114654485A (en) * | 2022-03-30 | 2022-06-24 | 李俊标 | Manipulator device with adjustable manipulator distance |
-
2017
- 2017-11-23 CN CN201711182684.1A patent/CN107756427A/en not_active Withdrawn
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108670423A (en) * | 2018-03-28 | 2018-10-19 | 安徽唯诗杨信息科技有限公司 | A kind of medical treatment precision instrument protection instrument |
| CN108500165A (en) * | 2018-05-28 | 2018-09-07 | 无锡市金杨新型电源有限公司 | A kind of punching press transfer manipulator |
| CN109436822A (en) * | 2018-10-27 | 2019-03-08 | 合肥雄鹰自动化工程科技有限公司 | A kind of classifiable automatic docking device |
| CN109865967A (en) * | 2019-03-04 | 2019-06-11 | 安徽理工大学 | A kind of machine components welding crawl robot |
| CN110064469A (en) * | 2019-04-22 | 2019-07-30 | 五矿（湖南）铁合金有限责任公司 | A kind of automatic centering centering and clamping apparatus |
| CN110064469B (en) * | 2019-04-22 | 2024-05-17 | 五矿（湖南）铁合金有限责任公司 | Automatic centering clamping device |
| CN110228706B (en) * | 2019-06-19 | 2020-12-18 | 建湖国创机械制造有限公司 | Automatic adjusting industrial robot gripper |
| CN110228706A (en) * | 2019-06-19 | 2019-09-13 | 孔潇箫 | A kind of adjust automatically gripper of industrial robot |
| CN110549101A (en) * | 2019-08-20 | 2019-12-10 | 大亚湾核电运营管理有限责任公司 | core removing device of multiplex high-efficiency filter of nuclear power station |
| CN110884661A (en) * | 2019-12-06 | 2020-03-17 | 湖南浩天翼航空技术有限公司 | Transportation unmanned aerial vehicle convenient to press from both sides express delivery and get |
| CN110879201B (en) * | 2019-12-10 | 2023-08-25 | 无锡沃格自动化科技股份有限公司 | Product detection device |
| CN110879201A (en) * | 2019-12-10 | 2020-03-13 | 江苏理工学院 | Product detection device |
| CN111890383A (en) * | 2020-08-11 | 2020-11-06 | 江苏昱博自动化设备有限公司 | Four-way rotating seat type power-assisted manipulator |
| CN112045697A (en) * | 2020-08-31 | 2020-12-08 | 重庆文理学院 | Self-adaptation subassembly and clamping jaw |
| CN112405074A (en) * | 2020-10-16 | 2021-02-26 | 淄博凯雷得汽车零部件有限公司 | Single leaf spring centre gripping feed mechanism |
| CN114654485A (en) * | 2022-03-30 | 2022-06-24 | 李俊标 | Manipulator device with adjustable manipulator distance |
| CN114654485B (en) * | 2022-03-30 | 2023-11-03 | 北京鼎元霖环保科技有限公司 | Manipulator device with adjustable manipulator spacing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180306 |