CN203557396U - Mechanical paw - Google Patents

Mechanical paw Download PDF

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Publication number
CN203557396U
CN203557396U CN201320578506.1U CN201320578506U CN203557396U CN 203557396 U CN203557396 U CN 203557396U CN 201320578506 U CN201320578506 U CN 201320578506U CN 203557396 U CN203557396 U CN 203557396U
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CN
China
Prior art keywords
mechanical
mechanical finger
fixed head
mount pad
cylinder
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Active
Application number
CN201320578506.1U
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Chinese (zh)
Inventor
余和青
马芳
梁明
郭君柱
严荣智
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Electrical Appliance Research Institute Co., Ltd.
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China National Electric Apparatus Research Institute Co Ltd
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Priority to CN201320578506.1U priority Critical patent/CN203557396U/en
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Abstract

The utility model discloses a mechanical paw. The mechanical paw comprises a fixing plate, a cylinder disposed at the top part of the fixing plate and mechanical fingers disposed at the bottom part of the fixing plate and used for grabbing workpieces. The cylinder is fixed to the top surface of the fixing plate. The upper ends of the mechanical fingers are hinged to the bottom part of the fixing plate. The output shaft of the cylinder passes through the fixing plate to be connected with a guide post. A connecting rod is connected between the mechanical fingers and the guide post and used for allowing the mechanical fingers to open to release a workpiece or tighten to grabbing a workpiece. The mechanical paw is provided with the connecting rod connected between the mechanical fingers and the guide post, so that in a gas intake or outtake process of the cylinder, the output shaft of the cylinder drives the connecting rod via the guide post to move upward or downward, and then the connecting rod drives the lower ends of the mechanical fingers to rotate around the hinged part at the upper ends of the mechanical fingers to allow the mechanical fingers to open to release a workpiece or tighten to grabbing a workpiece. The mechanical paw is simple in structure, convenient to machine, and high in grabbing force.

Description

A kind of mechanical paw
Technical field
The utility model relates to an EDM Technology apparatus field, and particularly a kind of mechanical paw, for the carrying of round piece.
Background technology
In industrial production, usually face the carrying of some heavier, larger round pieces, traditional mode is to adopt artificial embracing to get, efficiency is slow, workman's labour intensity is larger, along with improving constantly and the growth of demographic dividend of modern production automatization level, a lot of employing units have proposed the requirement that production line is cut personnel, the automatization level of producing equipment is provided, use manipulator or automation equipment to replace manual operation, no matter be manipulator or automation equipment, in application process, the design of end effector mechanism is the technical problem of most critical.And the manipulator for clamping circular work pieces of prior art need to adopt multiple cylinders to control handgrip, structure relative complex, manufacturing cost is also higher, and more application is in the crawl of miniature workpiece.
Utility model content
The purpose of this utility model is to provide a kind of simple in structure and easy to process and mechanical gripper that grasp force is larger.
The technical scheme that realizes the utility model object is: a kind of mechanical paw, comprise fixed head, be arranged on the cylinder at fixed head top and be arranged on the mechanical finger of fixed head bottom for grabbing workpiece, cylinder is fixed on fixed head end face, mechanical finger upper end is hinged on the bottom of fixed head, the output shaft of described cylinder is connected with lead through after fixed head, between described mechanical finger and lead, be connected with and can make mechanical finger open the connecting rod that unclamps workpiece or tighten up grabbing workpiece, by be connected with connecting rod between mechanical finger and lead, make when cylinder is in air inlet or while giving vent to anger, the output shaft of cylinder down or up moves through lead drivening rod, by connecting rod driving mechanical finger lower end, around the hinge point of mechanical finger upper end, rotated again, realizing mechanical finger opens and unclamps workpiece or tighten up grabbing workpiece, simple in structure and easy to process and grasp force is larger.
Fixed head described in the utility model bottom is also provided with holder, the one ∏ type mount pad is installed on holder, mechanical finger upper end is hinged on by the first bearing pin in the U-shaped groove location of a ∏ type mount pad, setting up holder makes the structure of fixed head simpler, and location and installation the one ∏ type mount pad, conveniently assemble and disassemble and follow-up maintenance more fast.
In order to obtain better crawl effect, mechanical finger described in the utility model lower end is equiped with the 2nd ∏ type mount pad and is arranged on the chuck piece on the 2nd ∏ type mount pad, and the U-shaped slot part of the 2nd ∏ type mount pad is sheathed and be hinged on mechanical finger lower end by the second bearing pin.
Further, the surface of described chuck piece gripping workpiece is v-shaped structure, and v-shaped structure can increase the contact area with workpiece, and then increasing friction force, and grasp force is increased.
Further, described mechanical finger lower end is also provided with adjustment block, adjustment block is arranged on by being provided with strip hole on the mechanical finger of the 2nd ∏ type mount pad below, by adjustment block, adjust the 2nd ∏ type mount pad and the height of chuck piece on mechanical finger, make mount pad and chuck piece that All Robots refers to all remain on a same level height, in the hope of obtaining maximum grasp force.
Mechanical finger described in the utility model is that three uniform pawls refer to, the lower end of described lead is equiped with three dog collar dishes, uniform three T-shaped seats on three dog collar dish circumference, described connecting rod is that porose strip plate is all offered at two ends, by the two ends of connecting rod described in the 3rd bearing pin, be hinged on respectively T-shaped seat and mechanical finger, simple in structure, easy to process and stable performance.
The lower end of lead described in the utility model is provided with external screw thread, and three dog collar dishes are set in lead back nut and fix, three dog collar dishes on fixed guide post.
The beneficial effects of the utility model are: adopt by be connected with connecting rod between mechanical finger and lead, make when cylinder is in air inlet or while giving vent to anger, the output shaft of cylinder down or up moves through lead drivening rod, by connecting rod driving mechanical finger lower end, around the hinge point of mechanical finger upper end, rotated again, realize mechanical finger and open and unclamp workpiece or tighten up grabbing workpiece, simple in structure and easy to process and grasp force is larger.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the utility model embodiment;
Fig. 2 is the front view of Fig. 1;
Fig. 3 is the right view of Fig. 1;
Fig. 4 is the structural representation of mechanical finger in the utility model embodiment.
In figure, fixed head 1, cylinder 2, holder 3, the one ∏ type mount pad 4, connecting rod 5, mechanical finger 6, the 2nd ∏ type mount pad 7, chuck piece 8, adjustment block 9, lead 10, three dog collar dishes 11, nut 12, the 3rd bearing pin 13, trip bolt 14, tapping screw 15, T-shaped seat 16, the first bearing pin 17, the second bearing pins 18.
The specific embodiment
Below in conjunction with accompanying drawing, with embodiment, the utility model is described in further detail.
As Fig. 1, shown in Fig. 2 and Fig. 3, the utility model provides a kind of mechanical paw, it comprises fixed head 1, cylinder 2 and for the mechanical finger 6 of grabbing workpiece, fixed head 1 is dustpan shape, the upper surface of the fixed head 1 dustpan groove that cylinder 2 is arranged on, mechanical finger 6 is arranged on fixed head 1 bottom of dustpan shape, fixed head 1 bottom is also provided with holder 3, holder 3 is fixed on fixed head 1 by tapping screw 15, the upper end of mechanical finger 6 is hinged on the holder 3 of bottom of fixed head 1, particularly, the one ∏ type mount pad 4 is fixed on holder 3 by trip bolt 14, mechanical finger 6 upper ends are hinged on by the first bearing pin 17 in the U-shaped groove location of a ∏ type mount pad 4, the output shaft of cylinder 2 is connected with lead 10 through after fixed head 1, between mechanical finger 6 and lead 10, be connected with the connecting rod 5 that can make mechanical finger 6 open to unclamp workpiece or tighten up grabbing workpiece.
As shown in Figure 1, mechanical finger 6 is that three uniform pawls refer to, the lower end of above-mentioned lead 10 is equiped with three dog collar dishes 11, uniform three T-shaped seats 16 on three dog collar dish 11 circumference, connecting rod 5 is all offered porose strip plate for two ends, by the two ends of connecting rod 5 described in the 3rd bearing pin 13, is hinged on respectively T-shaped seat 16 and mechanical finger 6.In addition, the lower end of lead 10 is provided with external screw thread, and it is fixing that three dog collar dishes 11 are set in lead 10 back nuts 12.
As shown in Figure 1 and Figure 4, mechanical finger 6 lower ends are equiped with the 2nd ∏ type mount pad 7 and chuck piece 8, chuck piece 8 is arranged on the 2nd ∏ type mount pad 7, the surface of chuck piece 8 gripping workpiece is v-shaped structure, and the U-shaped slot part of the 2nd ∏ type mount pad 7 is sheathed and be hinged on mechanical finger 6 lower ends by the second bearing pin 18.In addition, mechanical finger 6 lower ends are also provided with adjustment block 9, and adjustment block 9 is arranged on the mechanical finger 6 of the 2nd ∏ type mount pad 7 belows by being provided with strip hole.
As shown in Figure 1, during use, when needs grabbing workpiece, first 3 three pawls of grabbing ring dish 11 are referred to aim at and be inserted in workpiece periphery, then by the electromagnetic valve switch of control cylinder 2, the output shaft of cylinder 2 is up lifted, and then the output shaft of cylinder 2 up moves through lead 10 drivening rods 5, then by connecting rod 5 driving mechanicals, point 6 lower ends and rotate around the first bearing pin 17, realize mechanical finger 6 and tighten up grabbing workpiece; Otherwise when needs unclamp workpiece, the output shaft of cylinder 2 down pushes, lead 10 drivening rods 5 down move, and then by connecting rod 5 driving mechanicals, point 6 lower ends and rotate around the first bearing pin 17, realize mechanical finger 6 and open and unclamp workpiece.
Above-described embodiment is only preferred embodiment of the present utility model, is not used for limiting practical range of the present utility model.Be that all equalizations of doing according to the utility model content change and modify, all by the utility model claim scope required for protection is contained.

Claims (7)

1. a mechanical paw, it is characterized in that, comprise fixed head (1), be arranged on the cylinder (2) at fixed head (1) top and be arranged on the mechanical finger (6) of fixed head (1) bottom for grabbing workpiece, cylinder (2) is fixed on fixed head (1) end face, mechanical finger (6) upper end is hinged on the bottom of fixed head (1), the output shaft of described cylinder (2) is connected with lead (10) through after fixed head (1), between described mechanical finger (6) and lead (10), be connected with the connecting rod (5) that can make mechanical finger (6) open to unclamp workpiece or tighten up grabbing workpiece.
2. mechanical paw according to claim 1, its special card is, described fixed head (1) bottom is provided with holder (3), the one ∏ type mount pad (4) is installed on holder (3), and mechanical finger (6) upper end is hinged in the U-shaped groove location of a ∏ type mount pad (4) by the first bearing pin (17).
3. mechanical paw according to claim 1, its special card is, described mechanical finger (6) lower end is equiped with the 2nd ∏ type mount pad (7) and is arranged on the chuck piece (8) on the 2nd ∏ type mount pad (7), and the U-shaped slot part of the 2nd ∏ type mount pad (7) is sheathed and be hinged on mechanical finger (6) lower end by the second bearing pin (18).
4. mechanical paw according to claim 3, its spy demonstrate,proves and is, and described mechanical finger (6) lower end is also provided with adjustment block (9), and adjustment block (9) is arranged on the mechanical finger (6) of the 2nd ∏ type mount pad (7) below by being provided with strip hole.
5. mechanical paw according to claim 3, its spy demonstrate,proves and is, and the surface of described chuck piece (8) gripping workpiece is v-shaped structure.
6. mechanical paw according to claim 1, its special card is, described mechanical finger (6) is that three uniform pawls refer to, the lower end of described lead (10) is equiped with three dog collar dishes (11), uniform three T-shaped seats (16) on three dog collar dish (11) circumference, described connecting rod (5) is all offered porose strip plate for two ends, by the two ends of the 3rd described connecting rod of bearing pin (13) (5), is hinged on respectively T-shaped seat (16) and mechanical finger (6).
7. mechanical paw according to claim 6, its spy demonstrate,proves and is, and the lower end of described lead (10) is provided with external screw thread, and it is fixing that three dog collar dishes (11) are set in lead (10) back nut (12).
CN201320578506.1U 2013-09-18 2013-09-18 Mechanical paw Active CN203557396U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320578506.1U CN203557396U (en) 2013-09-18 2013-09-18 Mechanical paw

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320578506.1U CN203557396U (en) 2013-09-18 2013-09-18 Mechanical paw

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Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103978493A (en) * 2014-05-13 2014-08-13 健雄职业技术学院 Self-centering mechanical arm
CN104117988A (en) * 2014-07-04 2014-10-29 浙江工业大学 Automatic hoisting device
CN104354157A (en) * 2014-10-29 2015-02-18 南京航空航天大学 Tire transfer robot and control method thereof
CN104400647A (en) * 2014-12-07 2015-03-11 绥阳县耐环铝业有限公司 Clamping fixture for aluminum cabinet during polishing
CN104626186A (en) * 2014-12-31 2015-05-20 电子科技大学 Multi-fingered composite type clamping mechanical gripper
CN105299301A (en) * 2015-11-06 2016-02-03 安徽中家智锐科技有限公司 Mechanical-arm-based cold and hot water adjusting actuator for adjustable water mixing valve
CN105690170A (en) * 2016-04-28 2016-06-22 黄斌 Three-claw clamp
CN105773645A (en) * 2016-04-26 2016-07-20 东莞市联洲知识产权运营管理有限公司 Structure improved claw on mechanical arm
CN105965232A (en) * 2016-07-18 2016-09-28 苏州市吴中区胥口广博模具加工厂 Seal ring feeding device of electronic drain valve element assembling machine
CN106272405A (en) * 2016-10-31 2017-01-04 哈尔滨理工大学 A kind of based on paint can conveying robot
CN107042525A (en) * 2017-04-11 2017-08-15 大连理工大学 A kind of grip controllable type robot elastic paw
CN107214730A (en) * 2017-07-28 2017-09-29 中国科学院沈阳自动化研究所 Cylinder transshipment acitivity
WO2018039931A1 (en) * 2016-08-30 2018-03-08 许琴琴 Crawler vehicle
CN108068133A (en) * 2017-12-08 2018-05-25 常州大学 A kind of crucible special machine machinery claw with three fingers
CN108217175A (en) * 2017-11-28 2018-06-29 广州市永合祥自动化设备科技有限公司 Sponge member adjustment component, method of adjustment and transportation system
CN108258561A (en) * 2017-12-20 2018-07-06 上海束联电子有限公司 A kind of feeding peeling procedure of Ultra-silent terminal
CN108582146A (en) * 2018-07-02 2018-09-28 芜湖易迅生产力促进中心有限责任公司 A kind of arm gripping body of robot
CN108582121A (en) * 2018-01-29 2018-09-28 安徽机电职业技术学院 A kind of bulb pick device of hydraulic oil cylinder driving
CN110625640A (en) * 2019-09-25 2019-12-31 三峡大学 Mechanical paw structure and operation method
CN111168647A (en) * 2020-01-06 2020-05-19 西安交通大学 Fault detection robot and use method thereof
CN111456330A (en) * 2020-04-26 2020-07-28 中建七局第一建筑有限公司 Positioning die for embedded steel bars

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103978493A (en) * 2014-05-13 2014-08-13 健雄职业技术学院 Self-centering mechanical arm
CN103978493B (en) * 2014-05-13 2016-04-27 健雄职业技术学院 A kind of self-centering manipulator
CN104117988A (en) * 2014-07-04 2014-10-29 浙江工业大学 Automatic hoisting device
CN104117988B (en) * 2014-07-04 2016-04-13 浙江工业大学 A kind of automation hanging apparatus
CN104354157B (en) * 2014-10-29 2016-03-02 南京航空航天大学 A kind of tire transfer robot and control method thereof
CN104354157A (en) * 2014-10-29 2015-02-18 南京航空航天大学 Tire transfer robot and control method thereof
CN104400647A (en) * 2014-12-07 2015-03-11 绥阳县耐环铝业有限公司 Clamping fixture for aluminum cabinet during polishing
CN104626186A (en) * 2014-12-31 2015-05-20 电子科技大学 Multi-fingered composite type clamping mechanical gripper
CN105299301A (en) * 2015-11-06 2016-02-03 安徽中家智锐科技有限公司 Mechanical-arm-based cold and hot water adjusting actuator for adjustable water mixing valve
CN105299301B (en) * 2015-11-06 2017-12-01 安徽中家智锐科技有限公司 A kind of adjustable type water mixing valve hot and cold water adjusting actuator based on mechanical arm
CN105773645A (en) * 2016-04-26 2016-07-20 东莞市联洲知识产权运营管理有限公司 Structure improved claw on mechanical arm
CN105690170A (en) * 2016-04-28 2016-06-22 黄斌 Three-claw clamp
CN105965232A (en) * 2016-07-18 2016-09-28 苏州市吴中区胥口广博模具加工厂 Seal ring feeding device of electronic drain valve element assembling machine
WO2018039931A1 (en) * 2016-08-30 2018-03-08 许琴琴 Crawler vehicle
CN106272405A (en) * 2016-10-31 2017-01-04 哈尔滨理工大学 A kind of based on paint can conveying robot
CN107042525A (en) * 2017-04-11 2017-08-15 大连理工大学 A kind of grip controllable type robot elastic paw
CN107214730A (en) * 2017-07-28 2017-09-29 中国科学院沈阳自动化研究所 Cylinder transshipment acitivity
CN108217175A (en) * 2017-11-28 2018-06-29 广州市永合祥自动化设备科技有限公司 Sponge member adjustment component, method of adjustment and transportation system
CN108068133A (en) * 2017-12-08 2018-05-25 常州大学 A kind of crucible special machine machinery claw with three fingers
CN108258561A (en) * 2017-12-20 2018-07-06 上海束联电子有限公司 A kind of feeding peeling procedure of Ultra-silent terminal
CN108582121A (en) * 2018-01-29 2018-09-28 安徽机电职业技术学院 A kind of bulb pick device of hydraulic oil cylinder driving
CN108582146A (en) * 2018-07-02 2018-09-28 芜湖易迅生产力促进中心有限责任公司 A kind of arm gripping body of robot
CN110625640A (en) * 2019-09-25 2019-12-31 三峡大学 Mechanical paw structure and operation method
CN110625640B (en) * 2019-09-25 2021-07-13 三峡大学 Mechanical paw structure and operation method
CN111168647A (en) * 2020-01-06 2020-05-19 西安交通大学 Fault detection robot and use method thereof
CN111168647B (en) * 2020-01-06 2021-10-01 西安交通大学 Fault detection robot and use method thereof
CN111456330A (en) * 2020-04-26 2020-07-28 中建七局第一建筑有限公司 Positioning die for embedded steel bars

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GR01 Patent grant
C14 Grant of patent or utility model
CP03 Change of name, title or address

Address after: 510302 No. 204 Xingang West Road, Haizhu District, Guangzhou City, Guangdong Province

Patentee after: China Electrical Appliance Research Institute Co., Ltd.

Address before: 510302 No. 204 West Xingang Road, Guangdong, Guangzhou

Patentee before: China National Electric Apparatus Research Institute Co., Ltd.

CP03 Change of name, title or address