CN204893968U - Novel claw formula hand mechanism - Google Patents

Novel claw formula hand mechanism Download PDF

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Publication number
CN204893968U
CN204893968U CN201520577372.0U CN201520577372U CN204893968U CN 204893968 U CN204893968 U CN 204893968U CN 201520577372 U CN201520577372 U CN 201520577372U CN 204893968 U CN204893968 U CN 204893968U
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China
Prior art keywords
rod
cylinder
hand
anchor bearing
hand pawl
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CN201520577372.0U
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Chinese (zh)
Inventor
刘巍巍
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Shenyang University of Technology
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刘巍巍
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Priority to CN201520577372.0U priority Critical patent/CN204893968U/en
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Abstract

Provided is a novel claw formula hand mechanism (b) (b), (B, ) (b) uses on heavily loaded type manipulator, its characteristics are by first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, lower anchor bearing, go up the anchor bearing, slide groove, a left cylinder, a right cylinder, right hand claw, the left hand claw constitutes, wherein gas pole and a connecting rod and the 2nd connecting rod of left cylinder are articulated, the gas pole of right side cylinder is articulated with fourth connecting rod and third connecting rod, first connecting rod and fourth connecting rod are articulated through last anchor bearing, second connecting rod and third connecting rod are through the anchor bearing is articulated down, form one set of four -bar linkage, go up anchor bearing and the notch motion of lower anchor bearing at slide groove, the left hand claw is installed on the gas pole of left cylinder, and right hand claw is installed on the gas pole of right cylinder, and left cylinder and right cylinder synchronous operation drive left hand claw and right hand claw synchronous operation, and left hand claw and right hand claw all adopt (b) (b) V (b) (b) type structure, and the change of diameter of work can not arouse the work piece axle center for the location center positioning error who requires. (B, )

Description

A kind of novel chela formula hand organization
Technical field
The utility model relates to a kind of hand organization of robot, particularly relates to a kind ofly can solving the tong claw hand organization causing workpiece axle center because of the change of diameter of work relative to the position error requiring the centre of location.
Background technology
In the process of industrial production automation, the application of industrial robot increases day by day.And chela formula hand organization is with its good rigidly, the feature that action is fast and being widely used on heavy-load type manipulator.
The hand organization of robot just moves to another position workpiece from a position by after chela clamping work pieces, due to the inertia force and vibration etc. that produce in the weight of workpiece itself and moving process, require that chela must have enough large clamping force, just can prevent workpiece from coming off in moving process.General Requirements clamping force to be workpiece be heavily 2-3 times, so for very heavy machined part, generally all adopt chela formula hand organization.And other paw system is as Pneumatic suction cup, pneumatic three-jaw, pneumatic two pawls, electronic gripping paw, electromagnetism is drawn paw and all cannot be applied.And when with traditional chela formula hand organization carrying and workpiece loading and unloading, often causing workpiece axle center because of the change of diameter of work relative to the centre of location required has certain deviation, and this departure is position error.
Summary of the invention
The purpose of this utility model be just for prior art exist use traditional chela formula hand organization carrying and workpiece loading and unloading time, often cause workpiece axle center because of the change of diameter of work relative to the centre of location required and have the problem of certain deviation, after repetition test and research, provide a kind of novel chela formula hand organization.This novel chela formula hand organization that the utility model provides, be equipped with that structure is simple, light, the simple pneumatic means of installation and maintenance is power, two paws of synchrodrive tool hand, solve the position error causing workpiece axle center because of the change of diameter of work relative to the centre of location required.
This novel chela formula hand organization that the utility model provides, be characterized in being made up of first connecting rod 1, second connecting rod 2, third connecting rod 3, double leval jib 4, lower anchor bearing 5, upper anchor bearing 6, slide groove 7, left cylinder 8, right cylinder 9, right hand pawl 10, left hand pawl 11, wherein.
The gas bar of left cylinder 8 and first connecting rod 1 and second connecting rod 2 hinged, the gas bar of right cylinder 9 and double leval jib 4 and third connecting rod 3 hinged, it is hinged that first connecting rod 1 and double leval jib 4 pass through upper anchor bearing 6, it is hinged that second connecting rod 2 and third connecting rod 3 pass through lower anchor bearing 5, form a set of quadric chain, upper anchor bearing 6 and lower anchor bearing 5 move at slide groove 7 notch, left hand pawl 11 is arranged on the gas bar of left cylinder 8, right hand pawl 10 is arranged on the gas bar of right cylinder 9, left cylinder 8 and right cylinder 9 synchronous operation, drive left hand pawl 11 and right hand pawl 10 synchronous operation, left hand pawl 11 and right hand pawl 10 all adopt V-structure, the change of diameter of work can not cause workpiece axle center relative to the centre of location position error required.
When left cylinder 8 push-and-pull, synchronously pull right cylinder 9 by quadric chain, otherwise when right cylinder 9 push-and-pull, synchronously pull left cylinder 8 by quadric chain, make two cylinder synchronization actions, synchronous drive right hand pawl 10 and the 11 pairs of parts centering of left hand pawl capture.
Compared with prior art, the beneficial effects of the utility model are: safety and stability, and structure is simple, save space, realize clamping synchronous operation, solve the shortcoming of traditional chela formula hand organization centralized positioning error.Force analysis is simple, and model selection of cylinder is convenient, determines stroke convenient.
Accompanying drawing explanation
Fig. 1 is the structural representation that the utility model provides embodiment.
Mark in figure: 1-first connecting rod, 2-second connecting rod, 3-third connecting rod, 4-double leval jib, anchor bearing under 5-, the upper anchor bearing of 6-, 7-slide groove, the left cylinder of 8-, the right cylinder of 9-, 10-right hand pawl, 11-left hand pawl.
Detailed description of the invention
Below in conjunction with drawings and Examples, the technical solution of the utility model is described further.
Embodiment.
As shown in Figure 1, this novel chela formula hand organization that the utility model provides, by first connecting rod 1, second connecting rod 2, third connecting rod 3, double leval jib 4, lower anchor bearing 5, upper anchor bearing 6, slide groove 7, left cylinder 8, right cylinder 9, right hand pawl 10, left hand pawl 11 is formed, wherein the gas bar of left cylinder 8 and first connecting rod 1 and second connecting rod 2 hinged, the gas bar of right cylinder 9 and double leval jib 4 and third connecting rod 3 hinged, it is hinged that first connecting rod 1 and double leval jib 4 pass through upper anchor bearing 6, it is hinged that second connecting rod 2 and third connecting rod 3 pass through lower anchor bearing 5, form a set of quadric chain, upper anchor bearing 6 and lower anchor bearing 5 move at slide groove 7 notch, left hand pawl 11 is arranged on the gas bar of left cylinder 8, right hand pawl 10 is arranged on the gas bar of right cylinder 9, left cylinder 8 and right cylinder 9 synchronous operation, drive left hand pawl 11 and right hand pawl 10 synchronous operation, left hand pawl 11 and right hand pawl 10 all adopt V-structure, the change of diameter of work can not cause workpiece axle center relative to the centre of location position error required.
During work: slide groove 7 is fixed, left cylinder 8 and right cylinder 9 start simultaneously, left cylinder 8 drives first connecting rod 1 and second connecting rod 2 that anchor bearing 6 and lower anchor bearing 5 are rolled at slide groove, drive double leval jib 4 and third connecting rod 3 to move, double leval jib 4 and third connecting rod 3 move and drive right cylinder 9 to move; In like manner, right cylinder 9 drives double leval jib 4 and third connecting rod 3 that anchor bearing 6 and lower anchor bearing 5 are rolled at slide groove, drives first connecting rod 1 and second connecting rod 2 to move, and first connecting rod 1 and second connecting rod 2 move and drive left cylinder 8 to move.Left cylinder 8 and right cylinder 9 each other power condition each other again, play synchronous effect.Left cylinder 8 drives left hand pawl 11, and right cylinder 9 drives right hand pawl 10, synchronously drives right hand pawl 10 and left hand pawl 11 by quadric chain, completes and captures part centering.

Claims (1)

1. a novel chela formula hand organization, it is characterized in that being made up of first connecting rod (1), second connecting rod (2), third connecting rod (3), double leval jib (4), lower anchor bearing (5), upper anchor bearing (6), slide groove (7), left cylinder (8), right cylinder (9), right hand pawl (10), left hand pawl (11), wherein
The gas bar of described left cylinder (8) and first connecting rod (1) and second connecting rod (2) hinged; the gas bar of right cylinder (9) and double leval jib (4) and third connecting rod (3) hinged; first connecting rod (1) and double leval jib (4) hinged by upper anchor bearing (6); second connecting rod (2) and third connecting rod (3) hinged by lower anchor bearing (5), form a set of quadric chain;
Described upper anchor bearing (6) and lower anchor bearing (5) move in the notch of slide groove (7), left hand pawl (11) is arranged on the gas bar of left cylinder (8), right hand pawl (10) is arranged on the gas bar of right cylinder (9), left cylinder (8) and right cylinder (9) synchronous operation, drive left hand pawl (11) and right hand pawl (10) synchronous operation, left hand pawl (11) and right hand pawl (10) all adopt V-structure.
CN201520577372.0U 2015-08-04 2015-08-04 Novel claw formula hand mechanism Active CN204893968U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520577372.0U CN204893968U (en) 2015-08-04 2015-08-04 Novel claw formula hand mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201520577372.0U CN204893968U (en) 2015-08-04 2015-08-04 Novel claw formula hand mechanism

Publications (1)

Publication Number Publication Date
CN204893968U true CN204893968U (en) 2015-12-23

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201520577372.0U Active CN204893968U (en) 2015-08-04 2015-08-04 Novel claw formula hand mechanism

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CN (1) CN204893968U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106006454A (en) * 2016-07-27 2016-10-12 合肥航航空设备有限公司 Four-rod type four-column lifter
CN110744573A (en) * 2019-10-29 2020-02-04 菲尔德(廊坊)机械自动化科技有限公司 Industrial robot hand claw

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106006454A (en) * 2016-07-27 2016-10-12 合肥航航空设备有限公司 Four-rod type four-column lifter
CN110744573A (en) * 2019-10-29 2020-02-04 菲尔德(廊坊)机械自动化科技有限公司 Industrial robot hand claw

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C14 Grant of patent or utility model
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20181017

Address after: 110870 No. 111 Shenyang West Road, Shenyang economic and Technological Development Zone, Shenyang, Liaoning

Patentee after: Shenyang University of Technology

Address before: 110025 25 eleven, South eleven Road, Tiexi District, Shenyang, Liaoning.

Patentee before: Liu Weiwei