CN108406816A - A kind of a wide range of adjustable hand of major diameter is grabbed - Google Patents
A kind of a wide range of adjustable hand of major diameter is grabbed Download PDFInfo
- Publication number
- CN108406816A CN108406816A CN201810366465.7A CN201810366465A CN108406816A CN 108406816 A CN108406816 A CN 108406816A CN 201810366465 A CN201810366465 A CN 201810366465A CN 108406816 A CN108406816 A CN 108406816A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- hand
- fixed
- hole
- slideway
- 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.)
- Granted
Links
- 238000003825 pressing Methods 0.000 claims abstract description 14
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
Abstract
The invention belongs to manipulators to grab technical field, be grabbed more particularly, to a kind of a wide range of adjustable hand of major diameter.Disk is fixed including multijaw cylinder, cylinder and multiple hands grab ontology.Multijaw cylinder includes multiple cylinder heads below multijaw cylinder, and multiple cylinder heads are arranged and are circumferentially uniformly distributed outwardly, and multiple cylinder heads bottom is respectively fixed with link block.Cylinder fixes disk and is fixed on multijaw cylinder outer bottom, cylinder is fixed on disk and offers the long stripes through hole coordinated with link block, link block passes through long stripes through hole, cylinder to fix disk lower surface position corresponding with multiple link blocks and be respectively provided with a slideway, and a plurality of slideway is circumferentially uniformly distributed.Hand is grabbed bodies top and is equipped with grabs ontology and is connected by sliding block and slideway sliding with the matched sliding block of slideway, hand, and link block is grabbed ontology with the hand on the corresponding slideway and is fixedly connected, and hand grabs that ontology is adjustable to capture diameter, further includes having pressing device.The configuration of the present invention is simple, grasping force is big, applied widely.
Description
Technical field
The invention belongs to manipulators to grab technical field, be grabbed more particularly, to a kind of a wide range of adjustable hand of major diameter.
Background technology
During Automated assembly, Pneumatic clamping jaw device is widely used in the clamping and transfer of various workpiece.Tradition
Pneumatic clamping jaw device, hand, which is grabbed, to be directly anchored in the cylinder head of multijaw cylinder, capture product weight all by gas
Cylinder rod head undertakes, therefore its grasping force is limited, small-sized multijaw cylinder can only the smaller product of weight capacity, when needing to capture
Large-scale multijaw cylinder, production cost can only be used larger when the relatively large product of weight.And traditional hand is grabbed and can be captured
A diameter of certain value, accommodation are smaller.
Invention content
In place of solving the deficiencies in the prior art, and offer one kind is simple in structure, grasping force is big
The a wide range of adjustable hand of major diameter grab.
The purpose of the present invention is what is solved by following technical proposal：
A kind of a wide range of adjustable hand of major diameter is grabbed, it is characterised in that：Disk is fixed including multijaw cylinder, cylinder and multiple hands grab this
Body；
The multijaw cylinder includes multiple cylinder heads below multijaw cylinder, and multiple cylinder heads are arranged outwardly and edge
Even circumferential is distributed, and multiple cylinder heads bottom is respectively fixed with link block；
The cylinder fixes disk and is fixed on multijaw cylinder outer bottom, and cylinder is fixed on disk and offers the strip coordinated with link block
Through-hole, link block pass through long stripes through hole, cylinder to fix disk lower surface position corresponding with multiple link blocks and be respectively provided with a slideway,
A plurality of slideway is circumferentially uniformly distributed；
The hand grab bodies top be equipped with the matched sliding block of slideway, hand grab ontology by sliding block and slideway sliding connect, even
It connects block and grabs ontology with the hand on the corresponding slideway and be fixedly connected.
Preferably, hand of the present invention grabs the hand that ontology is adjustable crawl diameter and grabs ontology, include mounting seat and
Mobile finger in mounting seat lower surface is set, and the sliding block is fixed at the top of mounting seat；
Mounting seat lower surface is uniformly provided with the first ripple, and mobile finger upper surface is equipped with and matched second wave of the first ripple
Line；Mounting seat lower surface vertically offers strip mounting hole, is vertically offered on mobile finger and length
The matched circular mounting hole of bar shaped mounting hole, the circular mounting hole are through-hole, and the diameter and strip of circular mounting hole are installed
The width in hole is equal, further includes having screw, the cooperation that the mobile finger passes through screw and circular mounting hole, strip mounting hole
It is fixed in mounting seat.
Preferably, long stripes through hole width of the present invention is slightly larger than link block width, and the length of long stripes through hole is more than
The length of link block, link block height are more than long stripes through hole height.
Preferably, include pressing plate, journal stirrup and spring the invention also includes having pressing device, pressing device；Two adjacent cunnings
A journal stirrup is respectively provided between road, journal stirrup is fixed on cylinder and fixes pan bottom, and each journal stirrup bottom is respectively fixed with one vertically
The spring of setting, the pressing plate is horizontally disposed and is fixed on spring bottom.
Preferably, the cylinder head number of the multijaw cylinder is 2-4, and hand grabs ontology number and cylinder head number phase
Together.
Compared to the prior art the invention has the characteristics that and advantageous effect：
1, hand grabs ontology and slides on slideway the crawl realized to product by sliding block, catches the process in mobile product after product
In, weight is fixed disk by cylinder and is born, and alleviates the load-bearing of cylinder head, the weight of product can be captured by improving it.
2, when the outer diameter of captured product is larger, mobile finger to external-adjuster and can be fixed in mounting seat, when
When the outer diameter of captured product is smaller, mobile finger can inwardly be adjusted and be fixed in mounting seat, before use, can basis
Position of the mobile finger of outer diameter adjustment of captured product in mounting seat, applied widely, adjustment mode is simple, improves
Production cost is reduced while working efficiency.
3, pressing device can be achieved, to the crawl of the product of various height, product to be effectively prevent to grab by the compression of spring
It is crooked when taking, and spring can mitigate the impact to product, effectively reduce the injury to product.
Description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is configuration schematic diagram of the present invention.
Fig. 3 is that hand of the present invention grabs ontology configuration schematic diagram.
Specific implementation mode
The present invention is described in further details below in conjunction with attached drawing.
As shown in Figure 1 and Figure 2, a kind of a wide range of adjustable hand of major diameter grabs ontology, including multijaw cylinder 1, cylinder fix disk
2 and multiple hands grab ontology 3.Multijaw cylinder 1 includes multiple cylinder heads 4 in 1 lower section of multijaw cylinder, multiple cylinder heads
4 are arranged and are circumferentially uniformly distributed outwardly, and multiple 4 bottoms of cylinder head are respectively fixed with link block 18.Cylinder is fixed disk 2 and is fixed on
1 bottom of multijaw cylinder, cylinder, which is fixed on disk 2, offers the long stripes through hole 19 coordinated with link block 18, and link block 18 passes through length
Strip through-hole 19, cylinder fix 2 lower surface of disk position corresponding with multiple link blocks 18 and are respectively provided with a slideway 5,5 edge of a plurality of slideway
Even circumferential is distributed.Hand grabs to be equipped at the top of ontology 3 and grabs ontology 3 with 5 matched sliding block 6 of slideway, hand and pass through sliding block 6 and slideway 5
Sliding connection, link block 18 are grabbed ontology 3 with the hand on corresponding slideway 5 and are fixedly connected.
Based on above structure, hand grabs ontology 3 and slides the crawl realized to product on slideway 5 by sliding block 6, catches product
Afterwards during mobile product, weight is fixed disk 2 by cylinder and is born, and alleviates the load-bearing of cylinder head 4, improving it can
Capture the weight of product.
Wherein 19 width of long stripes through hole is slightly larger than 18 width of link block, and the length of long stripes through hole 19 is more than link block 18
Length, 18 height of link block is more than the height of long stripes through hole 19.
As shown in figure 3, hand, which grabs the hand that ontology 3 is adjustable crawl diameter, grabs ontology 3, include mounting seat 7 and setting
Mobile finger 8 in 7 lower surface of mounting seat, the sliding block 6 are fixed on 7 top of mounting seat.7 lower surface of mounting seat is uniform
Equipped with the first ripple 9,8 upper surface of mobile finger is equipped with and 9 matched second ripple 10 of the first ripple；7 following table of mounting seat
Face vertically offers strip mounting hole 11, is vertically offered and strip mounting hole 11 on mobile finger 8
Matched circular mounting hole 13, the circular mounting hole 13 are through-hole, the diameter and strip mounting hole 11 of circular mounting hole 13
Width it is equal, further include having screw 14, the mobile finger 8 passes through screw 14 and circular mounting hole 13, strip mounting hole
11 cooperation is fixed in mounting seat 7.
When the outer diameter of captured product is larger, mobile finger 8 to external-adjuster and can be fixed in mounting seat 7, when
When the outer diameter of captured product is smaller, mobile finger 8 can inwardly be adjusted and be fixed in mounting seat 7, before use, can root
According to position of the mobile finger 8 of outer diameter adjustment of captured product in mounting seat 7, applied widely, adjustment mode is simple, carries
Production cost is reduced while high working efficiency.
Further include having pressing device, pressing device includes pressing plate 15, journal stirrup 16 and spring 17；Between two adjacent slideways 5
It is respectively provided with a journal stirrup 16, journal stirrup 16 is fixed on cylinder and fixes 2 bottom of disk, and 16 bottom of each journal stirrup is respectively fixed with one vertically
The spring 17 of setting, pressing plate 15 is horizontally disposed and is fixed on 17 bottom of spring.Pressing device can be achieved by the compression of spring 17
Crawl to the product of various height effectively prevent product crooked in crawl, and spring 17 can mitigate the impact to product, have
Effect reduces the injury to product.
According to the actual conditions of captured product, 4 numbers of cylinder head of multijaw cylinder 1 may be selected to be 2-4, realize most
Good grasp mode, it is identical as 4 numbers of cylinder head that hand grabs 3 numbers of ontology.
Specific embodiment described herein is only an example for the spirit of the invention.Technology belonging to the present invention is led
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (5)
1. a kind of a wide range of adjustable hand of major diameter is grabbed, it is characterised in that：Disk is fixed including multijaw cylinder, cylinder and multiple hands are grabbed
Ontology；
The multijaw cylinder includes multiple cylinder heads below multijaw cylinder, and multiple cylinder heads are arranged outwardly and edge
Even circumferential is distributed, and multiple cylinder heads bottom is respectively fixed with link block；
The cylinder fixes disk and is fixed on multijaw cylinder outer bottom, and cylinder is fixed on disk and offers the strip coordinated with link block
Through-hole, link block pass through long stripes through hole, cylinder to fix disk lower surface position corresponding with multiple link blocks and be respectively provided with a slideway,
A plurality of slideway is circumferentially uniformly distributed；
The hand grab bodies top be equipped with the matched sliding block of slideway, hand grab ontology by sliding block and slideway sliding connect, even
It connects block and grabs ontology with the hand on the corresponding slideway and be fixedly connected.
2. a wide range of adjustable hand of major diameter according to claim 1 is grabbed, it is characterised in that：It is adjustable that the hand, which grabs ontology,
The hand of section crawl diameter grabs ontology, includes mounting seat and the mobile finger in mounting seat lower surface, the sliding block to be arranged
It is fixed at the top of mounting seat；
Mounting seat lower surface is uniformly provided with the first ripple, and mobile finger upper surface is equipped with and matched second wave of the first ripple
Line；Mounting seat lower surface vertically offers strip mounting hole, is vertically offered on mobile finger and length
The matched circular mounting hole of bar shaped mounting hole, the circular mounting hole are through-hole, and the diameter and strip of circular mounting hole are installed
The width in hole is equal, further includes having screw, the cooperation that the mobile finger passes through screw and circular mounting hole, strip mounting hole
It is fixed in mounting seat.
3. a wide range of adjustable hand of major diameter according to claim 1 or 2 is grabbed, it is characterised in that：The long stripes through hole
Width is slightly larger than link block width, and the length of long stripes through hole is more than the length of link block, and link block height is logical more than strip
Hole height.
4. a wide range of adjustable hand of major diameter according to claim 1 or 2 is grabbed, it is characterised in that：Further include thering is compression to fill
It sets, pressing device includes pressing plate, journal stirrup and spring；A journal stirrup is respectively provided between two adjacent slideways, it is solid that journal stirrup is fixed on cylinder
Price fixing bottom, each journal stirrup bottom are respectively fixed with a spring being vertically arranged, and the pressing plate is horizontally disposed and is fixed on
Spring bottom.
5. a wide range of adjustable hand of major diameter according to claim 1 or 2 is grabbed, it is characterised in that：The multijaw cylinder
Cylinder head number is 2-4, and it is identical as cylinder head number that hand grabs ontology number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810366465.7A CN108406816B (en) | 2018-04-23 | 2018-04-23 | Large-diameter large-range adjustable hand grip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810366465.7A CN108406816B (en) | 2018-04-23 | 2018-04-23 | Large-diameter large-range adjustable hand grip |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108406816A true CN108406816A (en) | 2018-08-17 |
| CN108406816B CN108406816B (en) | 2024-03-22 |
Family
ID=63136138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810366465.7A Active CN108406816B (en) | 2018-04-23 | 2018-04-23 | Large-diameter large-range adjustable hand grip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108406816B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110962149A (en) * | 2018-09-28 | 2020-04-07 | 发那科株式会社 | Mechanical arm |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5509707A (en) * | 1994-03-04 | 1996-04-23 | 737333 Ontario Inc. | Robotic gripper module |
| WO1998015393A1 (en) * | 1996-10-07 | 1998-04-16 | Fabco Air, Inc. | Robotic gripper |
| JP2001300880A (en) * | 2000-04-21 | 2001-10-30 | Daido Steel Co Ltd | Manipulator hand |
| CN203611257U (en) * | 2013-12-30 | 2014-05-28 | 重庆机床(集团)有限责任公司 | Prepressing system of grabbing mechanism |
| CN204054074U (en) * | 2014-08-27 | 2014-12-31 | 涂宇扬 | A kind of adjustable mechanical grasping mechanism |
| CN205111866U (en) * | 2015-11-30 | 2016-03-30 | 河北工业大学 | Grab material mechanical gripper |
| CN208084364U (en) * | 2018-04-23 | 2018-11-13 | 温岭市正大工业机器人有限公司 | A kind of a wide range of adjustable hand of major diameter is grabbed |
-
2018
- 2018-04-23 CN CN201810366465.7A patent/CN108406816B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5509707A (en) * | 1994-03-04 | 1996-04-23 | 737333 Ontario Inc. | Robotic gripper module |
| WO1998015393A1 (en) * | 1996-10-07 | 1998-04-16 | Fabco Air, Inc. | Robotic gripper |
| JP2001300880A (en) * | 2000-04-21 | 2001-10-30 | Daido Steel Co Ltd | Manipulator hand |
| CN203611257U (en) * | 2013-12-30 | 2014-05-28 | 重庆机床(集团)有限责任公司 | Prepressing system of grabbing mechanism |
| CN204054074U (en) * | 2014-08-27 | 2014-12-31 | 涂宇扬 | A kind of adjustable mechanical grasping mechanism |
| CN205111866U (en) * | 2015-11-30 | 2016-03-30 | 河北工业大学 | Grab material mechanical gripper |
| CN208084364U (en) * | 2018-04-23 | 2018-11-13 | 温岭市正大工业机器人有限公司 | A kind of a wide range of adjustable hand of major diameter is grabbed |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110962149A (en) * | 2018-09-28 | 2020-04-07 | 发那科株式会社 | Mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108406816B (en) | 2024-03-22 |
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