CN108406822A - A kind of mechanical grip for machine-building - Google Patents
A kind of mechanical grip for machine-building Download PDFInfo
- Publication number
- CN108406822A CN108406822A CN201810171791.2A CN201810171791A CN108406822A CN 108406822 A CN108406822 A CN 108406822A CN 201810171791 A CN201810171791 A CN 201810171791A CN 108406822 A CN108406822 A CN 108406822A
- Authority
- CN
- China
- Prior art keywords
- linking arm
- arm
- gear disk
- clamping jaw
- boss
- 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.)
- Pending
Links
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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a kind of mechanical grips for machine-building, including support plate, it is fixed with supporting block in the support plate, it is fixed with hydraulic cylinder in the supporting block, it is provided with boss in the support plate, sliding slot is offered on the boss, limit traveller is installed on the sliding slot, it is provided with the gear teeth on the limit traveller, first gear disk and the first linking arm are installed on the boss, second gear disk and the second linking arm are installed on the boss, one end of first linking arm is fixedly connected with first gear disk, one end of second linking arm is fixedly connected with second gear disk, the other end of first linking arm is hinged with the first clamping jaw arm, the other end of second linking arm is hinged with the second clamping jaw arm, it is hinged with third linking arm on the first clamping jaw arm, it is hinged with the 4th linking arm on the second clamping jaw arm.The invention customer service mechanical grip be easy to cause the problem of being destroyed to object and ensures the stability of power source transmission.
Description
Technical field
Invention is related to mechanical grip technical field, specially a kind of mechanical grip for machine-building.
Background technology
During machine-building, in order to improve working efficiency and save labour, need to use mechanical grip into
Row pick and place workpiece, mechanical grip can imitate certain holding functions of human hand and arm, to press fixed routine crawl, carry object or
The automatic pilot of operation instrument.Mechanical grip is the industrial robot occurred earliest, and the modern machines occurred earliest
People, it can replace the heavy labor of people to realize the mechanization and automation of production, can be operated under hostile environment to protect people
Body safety, thus it is widely used in the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.The machine of current machine-building
The hydraulic cylinder that the power source majority of tool clamping jaw uses, flexible using hydraulic cylinder control clamping jaw, but these hydraulic cylinders are stretched
Contracting end is directly connect by fixedly connected part with clip claw mechanism, be easy to cause the unstability of power source transmission in this way and does not have
Certain buffering effect be easy to cause destruction of the clamping jaw to object.
In conclusion the current mechanical grip for machine-building, exists and be easy to cause the unstable of power source transmission
Property and without certain buffering effect, the problem of be easy to causeing destruction of the clamping jaw to object.
Invention content
Invention is designed to provide a kind of mechanical grip for machine-building, to solve to propose in above-mentioned background technology
The problem of.
To achieve the above object, invention provides the following technical solutions：A kind of mechanical grip for machine-building, including branch
Fagging, the middle position of one end of the support plate in the width direction are fixed with supporting block, are welded on the side wall of the supporting block
It connects and is fixed with horizontally disposed hydraulic cylinder, boss is provided at the position far from the supporting block in the support plate,
The middle position of the boss upper surface offers sliding slot along its length, and limit traveller is equipped on the sliding slot, described
The telescopic rod end of hydraulic cylinder is fixedly connected with one end of the limit traveller, the both sides point of the limit traveller along its length
It is not welded with several gear teeth equidistantly successively along its length, the side on the boss relative to the limit traveller is by turning
Shaft assembly is equipped with first gear disk and the first linking arm, and the other side on the boss relative to the limit traveller is by turning
Shaft assembly is equipped with second gear disk and the second linking arm, and one end of first linking arm passes through fixed bolt and described first
The upper surface of toothed disc is fixedly connected, the upper table that one end of second linking arm passes through fixed bolt and the second gear disk
Face is fixedly connected, and the other end of first linking arm is hinged with the first clamping jaw arm by articulated shaft, second linking arm
The other end is hinged with the second clamping jaw arm by articulated shaft, and the middle position of the first clamping jaw arm is hinged with by articulated shaft
The other end of three linking arms, the third linking arm is articulated and connected by rotating assembly and the boss, the second clamping jaw arm
Middle position the 4th linking arm is hinged with by articulated shaft, the other end of the 4th linking arm passes through rotating assembly and institute
It states boss to be articulated and connected, the other end of the other end of the first clamping jaw arm and the second clamping jaw arm is respectively by hinged
Axis is hinged with limit fixture block.
Preferably, the both sides of the sliding slot lower part offer the limit crossheading being arranged along the track length direction respectively,
The lower part both sides of the limit traveller are provided with the limit adaptable with the limit crossheading along side along its length respectively.
Preferably, the first gear disk and the second gear disk are connected with corresponding gear teeth meshing respectively.
Preferably, the first gear disk, the second gear disk, first linking arm and second linking arm
On offer with the fixed bolt be adapted tapped through hole.
Preferably, several are offered in the support plate for the mechanical grip to be installed fixed installation through-hole.
Compared with prior art, advantageous effect of the invention is：This is used for the mechanical grip of machine-building, by boss
The middle position of upper surface offers sliding slot along its length, and limit traveller, the flexible rod end of hydraulic cylinder are equipped on sliding slot
Portion is fixedly connected with one end of limit traveller, the equidistant welding successively along its length respectively of the both sides of limit traveller along its length
There are several gear teeth, being equipped with first gear disk and first by rotating assembly relative to the side for limiting traveller on boss connects
Arm is equipped with second gear disk and the second linking arm on boss relative to the other side of limit traveller by rotating assembly, and first
One end of linking arm is fixedly connected by fixed bolt with the upper surface of first gear disk, and one end of the second linking arm passes through fixation
Stud is fixedly connected with the upper surface of second gear disk, passes through the telescopic rod end and the first clamping jaw arm and the second folder in hydraulic cylinder
The gear drive that setting is made of limit traveller, the gear teeth, first gear disk and second gear disk between pawl arm is as dynamic
Power source is transmitted, and the setting of this composite structure can play certain buffering effect during power source transmits, and customer service is existing
Some be easy to cause the problem of clamping jaw destroys object for the mechanical grip of machine-building and ensures the stabilization of power source transmission
Property；By offering the limit crossheading being arranged along track length direction respectively in the both sides of sliding slot lower part, the lower part along side is limited
Both sides are provided with the limit adaptable with limit crossheading along side along its length respectively, contribute to the stability for limiting traveller, and
And first gear disk and second gear disk are connected with corresponding gear teeth meshing respectively, ensure the stability of power source transmission.
Description of the drawings
Fig. 1 is a kind of mechanical grip structural schematic diagram for machine-building；
Fig. 2 is a kind of sliding groove structure schematic diagram of mechanical grip for machine-building；
Fig. 3 is a kind of limit traveller structural schematic diagram of mechanical grip for machine-building.
In figure：1- support plates；2- supporting blocks；3- hydraulic cylinders；4- boss；5- sliding slots；51- limits crossheading；6- limits traveller；
61- limits are along side；The 7- gear teeth；8- first gear disks；9- second gear disks；The first linking arms of 10-；The second linking arms of 11-；12-
Rotating assembly；13- fixed bolts；14- third linking arms；The 4th linking arms of 15-；16- the first clamping jaw arms；17- the second clamping jaw arms；
18- limits fixture block；19- articulated shafts；20- installation through-holes.
Specific implementation mode
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 describes, 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.
- 3 are please referred to Fig.1, invention provides a kind of technical solution：A kind of mechanical grip for machine-building, including support
Plate 1, the middle position of one end of the support plate 1 in the width direction are fixed with supporting block 2, on the side wall of the supporting block 2
It is welded with horizontally disposed hydraulic cylinder 3, is provided at the position far from the supporting block 2 in the support plate 1
The middle position of boss 4,4 upper surface of the boss offers sliding slot 5 along its length, and limit is equipped on the sliding slot 5
Traveller 6, the telescopic rod end of the hydraulic cylinder 3 are fixedly connected with one end of the limit traveller 6, and the limit traveller 6 is along length
The both sides in degree direction are equidistantly welded with several gear teeth 7 successively along its length respectively, relative to the limit on the boss 4
The side of traveller 6 is equipped with first gear disk 8 and the first linking arm 10 by rotating assembly 12, relative to institute on the boss 4
The other side for stating limit traveller 6 is equipped with second gear disk 9 and the second linking arm 11, first connection by rotating assembly 12
One end of arm 10 is fixedly connected by fixed bolt 13 with the upper surface of the first gear disk 8, second linking arm 11
One end is fixedly connected by fixed bolt 13 with the upper surface of the second gear disk 9, the other end of first linking arm 10
It is hinged with the first clamping jaw arm 16 by articulated shaft 19, the other end of second linking arm 11 is hinged with second by articulated shaft 19
The middle position of clamping jaw arm 17, the first clamping jaw arm 16 is hinged with third linking arm 14, the third by articulated shaft 19
The other end of linking arm 14 is articulated and connected by rotating assembly 12 and the boss 4, the centre position of the second clamping jaw arm 17
Place is hinged with the 4th linking arm 15 by articulated shaft 19, the other end of the 4th linking arm 15 by rotating assembly 12 with it is described
Boss 4 is articulated and connected, and the other end of the other end of the first clamping jaw arm 16 and the second clamping jaw arm 17 respectively passes through
Articulated shaft 19 is hinged with limit fixture block 18.
The both sides of 5 lower part of the sliding slot offer the limit crossheading 51 being arranged along 5 length direction of the sliding slot respectively, described
The lower part both sides of limit traveller 6 are provided with the limit adaptable with the limit crossheading 51 along side 61 along its length respectively.
The first gear disk 8 and the second gear disk 9 are engaged with the corresponding gear teeth 7 respectively to be connected.
The first gear disk 8, the second gear disk 9, first linking arm 10 and second linking arm 11
On offer with the fixed bolt 13 be adapted tapped through hole.
Several are offered in the support plate 1 for the mechanical grip to be installed fixed installation through-hole 20.
Operation principle：This is used for the mechanical grip of machine-building, by long on the middle position edge in 4 upper surface of boss
Degree direction offers sliding slot 5, and limit traveller 6, one end of the telescopic rod end and limit traveller 6 of hydraulic cylinder 3 are equipped on sliding slot 5
It is fixedly connected, the both sides of limit traveller 6 along its length are equidistantly welded with several gear teeth 7 successively along its length respectively, convex
Side on platform 4 relative to limit traveller 6 is equipped with first gear disk 8 and the first linking arm 10, boss 4 by rotating assembly 12
On relative to the other side of limit traveller 6 second gear disk 9 and the second linking arm 11 are equipped with by rotating assembly 12, first connects
The one end for connecing arm 10 is fixedly connected by fixed bolt 13 with the upper surface of first gear disk 8, and one end of the second linking arm 11 is logical
It crosses fixed bolt 13 to be fixedly connected with the upper surface of second gear disk 9, passes through the telescopic rod end and the first clamping jaw in hydraulic cylinder 3
Setting is made of limit traveller 6, the gear teeth 7, first gear disk 8 and second gear disk 9 between arm 16 and the second clamping jaw arm 17
Gear drive is transmitted as power source, and the setting of this composite structure can be played centainly during power source transmits
Buffering effect, the existing mechanical grip for machine-building of customer service be easy to cause the problem of clamping jaw destroys object and guarantee
The stability of power source transmission；It is suitable by offering the limit being arranged along 5 length direction of sliding slot respectively in the both sides of 5 lower part of sliding slot
Slot 51, limit along while 61 lower part both sides be provided with along its length respectively the limit adaptable with crossheading 51 is limited along while 61,
Contribute to the stability of limit traveller 6, and first gear disk 8 and second gear disk 9 engage with the corresponding gear teeth 7 connect respectively
It connects, ensures the stability of power source transmission.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
God and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (5)
1. a kind of mechanical grip for machine-building, it is characterised in that：Including support plate (1), one end of the support plate (1)
Middle position in the width direction is fixed with supporting block (2), is welded with along level side on the side wall of the supporting block (2)
To the hydraulic cylinder (3) of setting, it is provided with boss (4) at the position far from the supporting block (2) on the support plate (1), it is described
The middle position of boss (4) upper surface offers sliding slot (5) along its length, and limit traveller is equipped on the sliding slot (5)
(6), the telescopic rod end of the hydraulic cylinder (3) is fixedly connected with one end of the limit traveller (6), the limit traveller (6)
Both sides along its length are equidistantly welded with several gear teeth (7) successively along its length respectively, on the boss (4) relative to
The side of the limit traveller (6) is equipped with first gear disk (8) and the first linking arm (10) by rotating assembly (12), described
The other side on boss (4) relative to the limit traveller (6) is equipped with second gear disk (9) and the by rotating assembly (12)
Two linking arms (11), one end of first linking arm (10) are upper by fixed bolt (13) and the first gear disk (8)
Surface is fixedly connected, and one end of second linking arm (11) is upper by fixed bolt (13) and the second gear disk (9)
Surface is fixedly connected, and the other end of first linking arm (10) is hinged with the first clamping jaw arm (16), institute by articulated shaft (19)
The other end for stating the second linking arm (11) is hinged with the second clamping jaw arm (17), the first clamping jaw arm (16) by articulated shaft (19)
Middle position third linking arm (14) is hinged with by articulated shaft (19), the other end of the third linking arm (14) passes through
Rotating assembly (12) is articulated and connected with the boss (4), and the middle position of the second clamping jaw arm (17) passes through articulated shaft
(19) it is hinged with the 4th linking arm (15), the other end of the 4th linking arm (15) passes through rotating assembly (12) and the boss
(4) it is articulated and connected, the other end of the other end of the first clamping jaw arm (16) and the second clamping jaw arm (17) respectively leads to
It crosses articulated shaft (19) and is hinged with limit fixture block (18).
2. a kind of mechanical grip for machine-building as described in claim 1, it is characterised in that：Sliding slot (5) lower part
Both sides offer the limit crossheading (51) being arranged along the sliding slot (5) length direction respectively, the lower part of the limit traveller (6)
Both sides are provided with the limit adaptable with the limit crossheading (51) along side (61) along its length respectively.
3. a kind of mechanical grip for machine-building as described in claim 1, it is characterised in that：The first gear disk
(8) it engages connect with the corresponding gear teeth (7) respectively with the second gear disk (9).
4. a kind of mechanical grip for machine-building as described in claim 1, it is characterised in that：The first gear disk
(8), it is offered on the second gear disk (9), first linking arm (10) and second linking arm (11) and institute
State the adaptable tapped through hole of fixed bolt (13).
5. a kind of mechanical grip for machine-building as described in claim 1, it is characterised in that：On the support plate (1)
Several are offered for the mechanical grip to be installed fixed installation through-hole (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810171791.2A CN108406822A (en) | 2018-03-01 | 2018-03-01 | A kind of mechanical grip for machine-building |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810171791.2A CN108406822A (en) | 2018-03-01 | 2018-03-01 | A kind of mechanical grip for machine-building |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108406822A true CN108406822A (en) | 2018-08-17 |
Family
ID=63129790
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810171791.2A Pending CN108406822A (en) | 2018-03-01 | 2018-03-01 | A kind of mechanical grip for machine-building |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108406822A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942890A (en) * | 2018-08-27 | 2018-12-07 | 安徽星宇生产力促进中心有限公司 | A kind of liftable fixture robot |
| CN109048553A (en) * | 2018-09-08 | 2018-12-21 | 曹银花 | A kind of plastic plate automatic processing apparatus |
| CN109158815A (en) * | 2018-10-18 | 2019-01-08 | 徐媛滨 | A kind of square pipe welded gear clamper |
| CN110076816A (en) * | 2019-04-29 | 2019-08-02 | 河南东微电子材料有限公司 | A kind of ceramic arm of novel automatic temperature controlled |
| CN110282346A (en) * | 2019-06-15 | 2019-09-27 | 江阴市华夏包装机械有限公司 | A kind of salt bag feed device |
| CN110355184A (en) * | 2019-07-18 | 2019-10-22 | 金晓静 | A kind of industrial refuse security landfill arm |
| CN110666822A (en) * | 2019-09-18 | 2020-01-10 | 合肥亿福自动化科技有限公司 | Material taking device of cooperative robot |
| CN110883806A (en) * | 2019-12-09 | 2020-03-17 | 东莞市胤丰电子有限公司 | Automatic broken regulation formula plastic products processing cutting machine of retrieving of clout |
| CN113059504A (en) * | 2021-04-14 | 2021-07-02 | 广东言铝铝业有限公司 | Sand blasting equipment |
| CN113146170A (en) * | 2021-02-05 | 2021-07-23 | 成都铭毅智能科技有限公司 | Clamping and feeding mechanism |
| CN113860154A (en) * | 2021-11-02 | 2021-12-31 | 河北建设集团股份有限公司 | Steel pipe hoisting mechanical claw for construction |
| CN114507835A (en) * | 2022-03-15 | 2022-05-17 | 福州大学 | Zinc pot slag dragging robot with slag dragging device fast conversion device and method |
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| JPH05200689A (en) * | 1991-08-30 | 1993-08-10 | Dainippon Screen Mfg Co Ltd | Wafer holding device and holding method thereof |
| JPH09295287A (en) * | 1996-05-02 | 1997-11-18 | Bandai Co Ltd | Hand toy |
| US6394521B1 (en) * | 2000-03-10 | 2002-05-28 | Millo Bertini | Gripper with enhanced gripping power accuracy and repeatability |
| DE19518062C2 (en) * | 1994-06-01 | 2002-09-19 | Smc Corp | Movable opening and closing chucks |
| CN204136056U (en) * | 2014-10-09 | 2015-02-04 | 上海通彩自动化设备有限公司 | A kind of rotation feeding jaw |
| CN105171739A (en) * | 2015-08-07 | 2015-12-23 | 四川迈克生物医疗电子有限公司 | Grabbing piece, mechanical electric reaction tube grabbing device and analyzer |
| CN205630670U (en) * | 2016-05-27 | 2016-10-12 | 鲁一军 | Rack and pinion translation connecting rod formula clamping structure |
| CN206344165U (en) * | 2016-12-13 | 2017-07-21 | 新沂永新机械配件有限公司 | A kind of lever chela clamp structure of gear-rack drive |
| CN107150352A (en) * | 2017-07-21 | 2017-09-12 | 杨晨啸 | A kind of stronger gripper of the special gripper of robot |
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2018
- 2018-03-01 CN CN201810171791.2A patent/CN108406822A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05200689A (en) * | 1991-08-30 | 1993-08-10 | Dainippon Screen Mfg Co Ltd | Wafer holding device and holding method thereof |
| DE19518062C2 (en) * | 1994-06-01 | 2002-09-19 | Smc Corp | Movable opening and closing chucks |
| JPH09295287A (en) * | 1996-05-02 | 1997-11-18 | Bandai Co Ltd | Hand toy |
| US6394521B1 (en) * | 2000-03-10 | 2002-05-28 | Millo Bertini | Gripper with enhanced gripping power accuracy and repeatability |
| CN204136056U (en) * | 2014-10-09 | 2015-02-04 | 上海通彩自动化设备有限公司 | A kind of rotation feeding jaw |
| CN105171739A (en) * | 2015-08-07 | 2015-12-23 | 四川迈克生物医疗电子有限公司 | Grabbing piece, mechanical electric reaction tube grabbing device and analyzer |
| CN205630670U (en) * | 2016-05-27 | 2016-10-12 | 鲁一军 | Rack and pinion translation connecting rod formula clamping structure |
| CN206344165U (en) * | 2016-12-13 | 2017-07-21 | 新沂永新机械配件有限公司 | A kind of lever chela clamp structure of gear-rack drive |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942890A (en) * | 2018-08-27 | 2018-12-07 | 安徽星宇生产力促进中心有限公司 | A kind of liftable fixture robot |
| CN109048553B (en) * | 2018-09-08 | 2020-07-31 | 龙南新涛亚克力科技有限公司 | Automatic processing device for plastic plates |
| CN109048553A (en) * | 2018-09-08 | 2018-12-21 | 曹银花 | A kind of plastic plate automatic processing apparatus |
| CN109158815A (en) * | 2018-10-18 | 2019-01-08 | 徐媛滨 | A kind of square pipe welded gear clamper |
| CN110076816A (en) * | 2019-04-29 | 2019-08-02 | 河南东微电子材料有限公司 | A kind of ceramic arm of novel automatic temperature controlled |
| CN110282346A (en) * | 2019-06-15 | 2019-09-27 | 江阴市华夏包装机械有限公司 | A kind of salt bag feed device |
| CN110282346B (en) * | 2019-06-15 | 2021-03-30 | 江阴市华夏包装机械有限公司 | Salt bag material feeding unit |
| CN110355184A (en) * | 2019-07-18 | 2019-10-22 | 金晓静 | A kind of industrial refuse security landfill arm |
| CN110666822A (en) * | 2019-09-18 | 2020-01-10 | 合肥亿福自动化科技有限公司 | Material taking device of cooperative robot |
| CN110883806A (en) * | 2019-12-09 | 2020-03-17 | 东莞市胤丰电子有限公司 | Automatic broken regulation formula plastic products processing cutting machine of retrieving of clout |
| CN113146170A (en) * | 2021-02-05 | 2021-07-23 | 成都铭毅智能科技有限公司 | Clamping and feeding mechanism |
| CN113059504A (en) * | 2021-04-14 | 2021-07-02 | 广东言铝铝业有限公司 | Sand blasting equipment |
| CN113860154A (en) * | 2021-11-02 | 2021-12-31 | 河北建设集团股份有限公司 | Steel pipe hoisting mechanical claw for construction |
| CN113860154B (en) * | 2021-11-02 | 2024-03-26 | 河北建设集团股份有限公司 | Steel pipe lifting mechanical claw for construction |
| CN114507835A (en) * | 2022-03-15 | 2022-05-17 | 福州大学 | Zinc pot slag dragging robot with slag dragging device fast conversion device and method |
| CN114507835B (en) * | 2022-03-15 | 2023-02-28 | 福州大学 | Zinc pot slag dragging robot with slag dragging device fast conversion device and method |
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Application publication date: 20180817 |