CN203665536U - Self-weight clamping mechanism of manipulator - Google Patents
Self-weight clamping mechanism of manipulator Download PDFInfo
- Publication number
- CN203665536U CN203665536U CN201320786044.2U CN201320786044U CN203665536U CN 203665536 U CN203665536 U CN 203665536U CN 201320786044 U CN201320786044 U CN 201320786044U CN 203665536 U CN203665536 U CN 203665536U
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- CN
- China
- Prior art keywords
- finger
- workpiece
- hydraulic cylinder
- manipulator
- right hand
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- 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.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 title abstract description 5
- 210000000707 wrist Anatomy 0.000 claims abstract description 11
- 239000012467 final product Substances 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model belongs to the field of mechanical devices and particularly relates to a self-weight clamping mechanism of a manipulator. The self-weight clamping mechanism comprises a wrist, fingers and a hydraulic cylinder. The fingers include the left finger and the right finger, and the left finger and the right finger cooperate to clamp a workpiece. The lower end of each finger is provided with a hook. The upper portion of the left finger and the upper portion of the right finger are provided with gears which are meshed with each other. The centers of the gears are rotatably connected with the wrist. A rotating handle is arranged on the upper portion of the left finger or the upper portion of the right finger. The upper end of the rotating handle is hinged to a piston rod of the hydraulic cylinder. The self-weight clamping mechanism of the manipulator can be used for clamping workpiece by partially utilizing the self-weight of the workpiece and can be used for clamping heavier workpieces.
Description
Technical field
The utility model belongs to mechanical device field, is specifically related to a kind of manipulator dead-weight clamping device.
Background technology
Manipulator is a kind of new device growing up in mechanization, automated production process, be widely used in handling and the assembling work of machine tool processing workpiece, manipulator generally includes executing agency, transmission system, control system and auxiliary body, and the clamping device of manipulator belongs to executing agency.
When existing manipulator clamping mechanisms grip workpiece, the power of clamping is mainly derived from cylinder or hydraulic cylinder, and for heavier workpiece, the power of holding workpiece is inadequate.
Utility model content
The defect existing for above-mentioned prior art, the purpose of this utility model is to provide a kind of manipulator dead-weight clamping device, and this clamping device, in the time of holding workpiece, can partly utilize the deadweight of workpiece, and heavier workpiece is clamped.
For achieving the above object, the technical solution of the utility model is: manipulator dead-weight clamping device, comprise wrist, finger and hydraulic cylinder, wherein, described finger comprises and coordinates the left hand of holding workpiece to refer to refer to the right hand, both lower ends are equipped with gib head, and described left hand refers to refer to that with the right hand top is pitch wheel; Gear centre and wrist are rotationally connected; Left hand refers to or the right hand refers to that top is provided with handler, and the piston rod of described handler upper end and hydraulic cylinder is hinged.
While adopting technique scheme, when the piston rod driving handle of hydraulic cylinder refers to a side oscillation towards left hand far away, the gear that the right hand being connected with handler refers to rotates, the gear that the gear drive left hand that now right hand refers to refers to rotates, and inwardly put two finger lower ends, gets final product holding workpiece, gib head on two fingers hooks workpiece, the component that workpiece puts on gib head makes all interior pendulum of two fingers, and workpiece is heavier, and the power of two fingerhold workpiece is larger; When the nearly left hand of piston rod driving handle of hydraulic cylinder refers to a side oscillation, the gear that the right hand being connected with handler refers to rotates, and the gear that the gear drive left hand that the right hand refers to simultaneously refers to rotates, and outwards put two finger lower ends, can unclamp workpiece.The utility model can utilize workpiece to put on pressure on the finger chucking power as holding workpiece, so can clamp heavier workpiece.
Further, described hydraulic cylinder piston rod far away one end hangs in wrist, and when handler swings, the piston rod that can promote hydraulic cylinder swings up and down, and the mode that hydraulic cylinder hangs allows hydraulic cylinder to swing up and down, and is conducive to protect hydraulic cylinder.
Further, described handler refers to the radially setting of upper gear along the right hand, and the gear centre that handler refers to around the right hand rotates, so handler radially arranges and has the maximum arm of force along gear, the right hand refers to rotate the most laborsaving.
Brief description of the drawings
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail:
Fig. 1 is the structural representation of the utility model manipulator dead-weight clamping device embodiment.
Detailed description of the invention
As shown in Figure 1, a kind of manipulator dead-weight clamping device, comprise wrist 1, finger and hydraulic cylinder 2, hydraulic cylinder 2 piston rod far away 21 one end hang in wrist 1, wherein, described finger comprise coordinate the left hand of holding workpiece 8 refer to 6 and the right hand refer to 3, both lower ends are equipped with gib head 4, described left hand refer to 6 and the right hand refer to that 3 tops are pitch wheel 5; Gear 5 centers and wrist 1 are rotationally connected; Left hand refer to 6 or the right hand refer to that 3 tops are provided with handler 7, the piston rod 21 of described handler 7 upper ends and hydraulic cylinder 2 is hinged.
As shown in Figure 1, be illustrated as the state of finger in holding workpiece 8.When piston rod 21 driving handles of hydraulic cylinder 2 swing towards right side, the right hand being connected with handler 7 refers to that 3 gear 5 clockwise rotates, now the right hand refers to that 3 gear 5 drives left hand to refer to that 6 gear 5 rotates counterclockwise, inwardly put two finger lower ends, the gib head 4 getting final product on 8, two fingers of holding workpiece hooks workpiece 8, and the component that workpiece 8 puts on gib head 4 makes all interior pendulum of two fingers, workpiece 8 is heavier, and the power of two fingerhold workpiece 8 is larger; When the piston rod 21 driving handle left sides of hydraulic cylinder 2 swing, the right hand being connected with handler 7 refers to that 3 gear 5 rotates counterclockwise, and the right hand refers to that 3 gear 5 drives left hand to refer to that 6 gear 5 clockwise rotates simultaneously, and outwards put two finger lower ends, can unclamp workpiece 8.
Above-described is only preferred embodiment of the present utility model; should be understood that; for a person skilled in the art; do not departing under the prerequisite of the utility model structure; can also make some distortion and improvement; these also should be considered as protection domain of the present utility model, and these can not affect effect and practical applicability that the utility model is implemented.
Claims (3)
1. manipulator dead-weight clamping device, comprises wrist, finger and hydraulic cylinder, it is characterized in that, described finger comprises and coordinate the left hand of holding workpiece to refer to refer to the right hand, and both lower ends are equipped with gib head, and described left hand refers to refer to that with the right hand top is pitch wheel; Gear centre and wrist are rotationally connected; The right hand refers to that top is provided with handler, and the piston rod of described handler upper end and hydraulic cylinder is hinged.
2. manipulator dead-weight clamping device according to claim 1, is characterized in that, described hydraulic cylinder piston rod far away one end hangs in wrist.
3. manipulator dead-weight clamping device according to claim 1, is characterized in that, described handler refers to the radially setting of upper gear along the right hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320786044.2U CN203665536U (en) | 2013-12-04 | 2013-12-04 | Self-weight clamping mechanism of manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320786044.2U CN203665536U (en) | 2013-12-04 | 2013-12-04 | Self-weight clamping mechanism of manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203665536U true CN203665536U (en) | 2014-06-25 |
Family
ID=50961869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320786044.2U Expired - Fee Related CN203665536U (en) | 2013-12-04 | 2013-12-04 | Self-weight clamping mechanism of manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203665536U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104588525A (en) * | 2014-11-27 | 2015-05-06 | 丹阳市腾辉液压机械有限公司 | Material grabbing mechanism of hydraulic valve bottom plate multi-direction perforating forming device |
| CN105313131A (en) * | 2014-07-31 | 2016-02-10 | 桂林福达重工锻造有限公司 | Clamping jaw device for robot |
| CN106003124A (en) * | 2016-06-14 | 2016-10-12 | 东莞市联洲知识产权运营管理有限公司 | Clamping jaw applied to mechanical arm |
| CN106891354A (en) * | 2017-02-15 | 2017-06-27 | 东莞市圣荣自动化科技有限公司 | A structure-optimized gripper on a manipulator |
-
2013
- 2013-12-04 CN CN201320786044.2U patent/CN203665536U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105313131A (en) * | 2014-07-31 | 2016-02-10 | 桂林福达重工锻造有限公司 | Clamping jaw device for robot |
| CN104588525A (en) * | 2014-11-27 | 2015-05-06 | 丹阳市腾辉液压机械有限公司 | Material grabbing mechanism of hydraulic valve bottom plate multi-direction perforating forming device |
| CN106003124A (en) * | 2016-06-14 | 2016-10-12 | 东莞市联洲知识产权运营管理有限公司 | Clamping jaw applied to mechanical arm |
| CN106891354A (en) * | 2017-02-15 | 2017-06-27 | 东莞市圣荣自动化科技有限公司 | A structure-optimized gripper on a manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140625 Termination date: 20141204 |
|
| EXPY | Termination of patent right or utility model |