CN204893968U - Novel claw formula hand mechanism - Google Patents

Abstract

<b>A new claw-type hand mechanism</b><b>,</b><b> is applied to heavy-duty manipulators, which is characterized by the first connecting rod, the second connecting rod, The third connecting rod, the fourth connecting rod, the lower hinged bearing, the upper hinged bearing, the slideway groove, the left cylinder, the right cylinder, the right claw, and the left claw, wherein the air rod of the left cylinder is connected with the first connecting rod and the second connecting rod. The rod is hinged, the air rod of the right cylinder is hinged with the fourth connecting rod and the third connecting rod, the first connecting rod and the fourth connecting rod are hinged through the upper hinge bearing, the second connecting rod and the third connecting rod are hinged through the lower hinge bearing, A set of four-bar linkage mechanism is formed; the upper hinged bearing and the lower hinged bearing move in the notch of the slide groove, the left claw is installed on the air rod of the left cylinder, the right claw is installed on the air rod of the right cylinder, the left cylinder and the right The cylinder runs synchronously, driving the left and right claws to run synchronously. Both the left and right claws adopt the </b><b>V</b><b> structure. The positioning error of the positioning center. </b>

Description

A New Claw-type Hand Mechanism

technical field

The utility model relates to a hand mechanism of a robot, in particular to a novel claw-type hand mechanism which can solve the positioning error of the axis center of the workpiece relative to the required positioning center caused by the change of the diameter of the workpiece.

Background technique

In the process of industrial production automation, the application of industrial robots is increasing day by day. The claw-type hand mechanism is widely used in heavy-duty manipulators because of its good rigidity and fast action.

The hand mechanism of the robot moves the workpiece from one position to another after clamping the workpiece with the jaws. Due to the weight of the workpiece itself and the inertial force and vibration generated during the movement, the jaws must have a large enough grip. The tight force can prevent the workpiece from falling off during the movement. Generally, the clamping force is required to be 2-3 times the weight of the workpiece, so for heavy machined parts, the claw-type hand mechanism is generally used. Other gripper systems such as pneumatic suction cups, pneumatic three-jaws, pneumatic two-jaws, electric grippers, and electromagnetic grippers cannot be used. However, when the traditional claw-type hand mechanism is used to transport and load and unload the workpiece, there is often a certain deviation between the workpiece axis and the required positioning center due to the change of the diameter of the workpiece. This deviation is the positioning error.

Contents of the invention

The purpose of this utility model is to solve the problem in the prior art that when using the traditional claw-type hand mechanism to carry and load and unload the workpiece, the workpiece axis often has a certain deviation from the required positioning center due to the change of the workpiece diameter. , after repeated trials and research, a new claw-type hand mechanism is provided. The new claw-type hand mechanism provided by the utility model is equipped with a pneumatic device with simple structure, light weight, and simple installation and maintenance as the power, and drives the two claws of the manipulator synchronously, which solves the problem caused by the change of the diameter of the workpiece. Causes the positioning error of the workpiece axis relative to the required positioning center.

This new claw type hand mechanism provided by the utility model is characterized by the first connecting rod 1, the second connecting rod 2, the third connecting rod 3, the fourth connecting rod 4, the lower hinged bearing 5, Upper hinged bearing 6, slideway groove 7, left cylinder 8, right cylinder 9, right hand claw 10, left hand claw 11 constitute, wherein.

The gas rod of the left cylinder 8 is hinged with the first connecting rod 1 and the second connecting rod 2, the gas rod of the right cylinder 9 is hinged with the fourth connecting rod 4 and the third connecting rod 3, and the first connecting rod 1 and the fourth connecting rod 4 is hinged by the upper hinged bearing 6, and the second connecting rod 2 and the third connecting rod 3 are hinged by the lower hinged bearing 5 to form a set of four-bar linkage mechanism. Movement, the left claw 11 is installed on the gas rod of the left cylinder 8, the right claw 10 is mounted on the gas rod of the right cylinder 9, the left cylinder 8 and the right cylinder 9 run synchronously, and drive the left claw 11 and the right claw 10 to run synchronously, the left hand Both the claw 11 and the right claw 10 adopt a V-shaped structure, and the change of the diameter of the workpiece cannot cause a positioning error of the axis of the workpiece relative to the required positioning center.

When the left cylinder 8 is pushed and pulled, the right cylinder 9 is pulled synchronously through the four-bar linkage mechanism; otherwise, when the right cylinder 9 is pushed and pulled, the left cylinder 8 is pulled synchronously through the four-bar linkage mechanism, so that the two cylinders act synchronously and drive the right claw 10 synchronously. And the left hand pawl 11 is grasped centeringly to parts.

Compared with the prior art, the utility model has the advantages of safety and stability, simple structure, saving space, realizing synchronous clamping operation, and solving the shortcomings of the center positioning error of the traditional claw-type hand mechanism. The force analysis is simple, the cylinder type selection is convenient, and the stroke is convenient.

Description of drawings

Fig. 1 is the structural representation of the embodiment of the utility model.

Marks in the figure: 1-first connecting rod, 2-second connecting rod, 3-third connecting rod, 4-fourth connecting rod, 5-lower hinged bearing, 6-upper hinged bearing, 7-slide groove, 8-left cylinder, 9-right cylinder, 10-right claw, 11-left claw.

Detailed ways

The technical scheme of the utility model will be further described below in conjunction with the accompanying drawings and embodiments.

Example.

As shown in Fig. 1, the new claw type hand mechanism provided by the utility model is composed of the first connecting rod 1, the second connecting rod 2, the third connecting rod 3, the fourth connecting rod 4, and the lower hinge Bearing 5, upper hinged bearing 6, slide groove 7, left cylinder 8, right cylinder 9, right claw 10, left claw 11, wherein the air rod of left cylinder 8 is hinged with first connecting rod 1 and second connecting rod 2 , the gas rod of the right cylinder 9 is hinged with the fourth connecting rod 4 and the third connecting rod 3, the first connecting rod 1 and the fourth connecting rod 4 are hinged through the upper hinge bearing 6, the second connecting rod 2 and the third connecting rod 3 The lower hinged bearing 5 is hinged to form a set of four-bar linkage mechanism. The upper hinged bearing 6 and the lower hinged bearing 5 move in the notch of the slideway groove 7. The left claw 11 is installed on the air rod of the left cylinder 8, and the right claw 10 is installed On the air rod of the right cylinder 9, the left cylinder 8 and the right cylinder 9 run synchronously, driving the left hand claw 11 and the right hand claw 10 to run synchronously. The positioning error of the axis relative to the required positioning center.

When working: the slideway groove 7 is fixed, the left cylinder 8 and the right cylinder 9 are activated simultaneously, and the left cylinder 8 drives the first connecting rod 1 and the second connecting rod 2 to make the upper hinged bearing 6 and the lower hinged bearing 5 roll in the slideway groove, Drive the fourth connecting rod 4 and the third connecting rod 3 to move, the fourth connecting rod 4 and the third connecting rod 3 move to drive the right cylinder 9 to move; similarly, the right cylinder 9 drives the fourth connecting rod 4 and the third connecting rod 3 Make the upper articulated bearing 6 and the lower articulated bearing 5 roll in the slideway groove, drive the first connecting rod 1 and the second connecting rod 2 to move, and the movement of the first connecting rod 1 and the second connecting rod 2 drives the left cylinder 8 to move. The left cylinder 8 and the right cylinder 9 act as power and restrict each other to play a synchronous role. The left cylinder 8 drives the left claw 11, the right cylinder 9 drives the right claw 10, and the right claw 10 and the left claw 11 are synchronously driven by the four-bar linkage to complete the centering grasping of parts.

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.