CN205255002U - Hydraulic mechanical hand device - Google Patents
Hydraulic mechanical hand device Download PDFInfo
- Publication number
- CN205255002U CN205255002U CN201521123536.9U CN201521123536U CN205255002U CN 205255002 U CN205255002 U CN 205255002U CN 201521123536 U CN201521123536 U CN 201521123536U CN 205255002 U CN205255002 U CN 205255002U
- Authority
- CN
- China
- Prior art keywords
- clamp
- underframe
- cantilever
- connecting rod
- mechanical hand
- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a hydraulic mechanical hand device, including a gripper, the gripper is fixed on the cantilever through the pivot is rotatable, and the movably setting of cantilever is on the stand, the gripper includes pneumatic cylinder, connecting rod, two tight big arms of clamp, two the tight forearms of clamp, hollow sleeve and chassis, pneumatic cylinder and hollow sleeve fixed connection, and hollow sleeve and chassis fixed connection, the actuating strut of pneumatic cylinder and the top fixed connection of connecting rod, the coaxial setting of connecting rod is inside hollow sleeve, and the one end of round pin axle and two the clamp tight forearms of the bottom of connecting rod through passing the chassis is articulated, and the one end of two tight big arms of clamp articulates on the chassis through the round pin axle respectively, and the other end of two tight forearms of clamp articulates through the tight big arm of round pin axle and two clamps respectively mutually, two tight big relative one sides of arm of clamp are provided with the protection pad of rubber material, and the surperficial cladding of protection pad has the cloth layer.
Description
Technical field
The utility model belongs to robot device technical field, relates in particular to a kind of hydraulic mechanical hand device.
Background technology
Manipulator is the parts for grasping workpiece (or instrument), its according to grasped object shape, size, weight,Material and job requirements and have various structures form, as clamp-type, holding type and absorbent-type etc. Along with modern industry notDisconnected development, manipulator is more and more applied to various industries. For the blessing of plastics or the soft workpiece of other matter, workThe surface of part easily sustains damage, and general robot manipulator structure complexity, and cost is higher.
Summary of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art, and a kind of hydraulic mechanical hand device is provided.
The utility model is achieved through the following technical solutions:
A kind of hydraulic mechanical hand device, comprises a gripper, and described gripper comprises hydraulic cylinder, connecting rod, two clampings greatlyArm, two clampings forearm, cannulated sleeve and underframe, the bottom of hydraulic cylinder is fixedly connected with the top of cannulated sleeve, and liquidCylinder pressure and cannulated sleeve coaxially arrange, and the bottom of cannulated sleeve is fixedly connected with the top of underframe, the actuating strut of hydraulic cylinder withThe top of connecting rod is fixedly connected with, and described connecting rod is coaxially arranged on cannulated sleeve inside, and the bottom of connecting rod is by through underframeBearing pin and two one end that clamp forearm are hinged, and two one end that clamp large arm are hinged on underframe by bearing pin respectively, andTwo other ends that clamp forearm are hinged by bearing pin and two large arms of clamping respectively; Described two large arms of clamping are relativeOne side is provided with the neonychium of quality of rubber materials, and the surface of neonychium is coated with the layer of cloth that material is terylene;
The sleeve of described gripper is fixedly connected with one end of axle, and axle is vertical with sleeve, and the other end of axle is by bearing and outstandingArm connects, and on axle, is fixed with driven gear, and driven gear engages with driving gear, and driving gear is fixed on the defeated of motorOn shaft, described motor is fixed on cantilever; Described cantilever is arranged on column movably.
In technique scheme, cantilever is connected with the push rod of a lift cylinder, and the push rod of lift cylinder drives cantilever along verticalPost moves up and down.
In technique scheme, described two large arms of clamping become symmetric relation with the vertical bisector of underframe, described twoClamp forearm and become symmetric relation with the vertical bisector of underframe.
In technique scheme, ply gage is 1mm.
Advantage of the present utility model and beneficial effect are:
The utility model is reasonable in design, simple in structure, and the actuating strut of hydraulic cylinder is driven with connecting rod bottom and is hinged by connecting rodTwo clamp forearms actions, two clamp forearms and drive two to clamp large arms and on underframe, do opening and closing movement, complete workThe blessing operation of part, because the blessing face that clamps large arm at two is provided with the neonychium of quality of rubber materials, thus can be effectiveThe surface of workpiece of protection plastic material does not sustain damage, while running into the water of surface of the work or fluid due to quality of rubber materials,The frictional force of itself and workpiece can reduce greatly, can effectively strengthen and work so be coated with layer of cloth on the surface of rubber protection padThe frictional force of part, prevents due to the too small work that drops of the frictional force between surface of the work and rubber with moisture or fluidThe situation of part occurs.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
1 is gripper, and 1-1 is hydraulic cylinder, and 1-2 is connecting rod, and 1-3 is cannulated sleeve, and 1-4 is for clamping large arm, and 1-5 is folderTight forearm, 1-6 is neonychium, and 1-7 is through hole, and 1-8 is underframe, and 1-9 is shaft coupling, and 2 is cantilever, and 2-1 is axle, 2-2For bearing, 2-3 is motor, and 3 is column, and 4 is lift cylinder.
Detailed description of the invention
Further illustrate the technical solution of the utility model below in conjunction with specific embodiment.
As shown in Figure 1, the related hydraulic mechanical hand device of the utility model comprises a gripper 1, and gripper 1 comprises liquidCylinder pressure 1-1, connecting rod 1-2, two clamp large arm 1-4, two and clamp forearm 1-5, cannulated sleeve 1-3, underframe 1-8,
The bottom of hydraulic cylinder 1-1 is fixedly connected with the top of cannulated sleeve 1-3, and hydraulic cylinder 1-1 and cannulated sleeve 1-3 withAxle arranges, and the bottom of cannulated sleeve 1-3 is fixedly connected with the top of the underframe 1-8 of del, and the actuating strut of hydraulic cylinder is logicalCross shaft coupling 1-9 and be fixedly connected with the top of connecting rod 1-2, described connecting rod 1-2 is coaxially arranged on cannulated sleeve 1-3 inside,The bottom of connecting rod 1-2 is hinged by the bearing pin through underframe and two one end that clamp forearm 1-5, and two clamp large arm 1-4To be hinged on underframe 1-8 by bearing pin respectively upper in one end, and two other ends that clamp forearm 1-5 are respectively by bearing pin and twoThe large arm 1-4 of individual clamping is hinged, and described two large arm 1-4 of clamping become symmetric relation with the vertical bisector of underframe 1-8, instituteState two clamping forearm 1-5 and become symmetric relation with the vertical bisector of underframe 1-8, on underframe 1-8, offer the logical of stripHole 1-7 (is that through hole 1-7 is connecting rod 1-2 so that the actuating strut of hydraulic cylinder can drive two clamping forearm 1-5 knee-actionsAnd two bearing pins that clamp between forearm 1-5 provide mobile space); Described two relative blessing faces of the large arm 1-4 of clamping are establishedBe equipped with the neonychium 1-6 of quality of rubber materials, it is the layer of cloth that the material of 1mm is terylene that the surface of neonychium 1-6 is coated with thickness;
The sleeve 1-3 of described gripper 1 is fixedly connected with one end of axle 2-1, and axle 2-1 is vertical with sleeve 1-3, axle 2-1The other end be enclosed in the cavity of cantilever 2 by pair of bearings 2-2, and on axle 2-1, be fixed with driven gear, driven toothWheel engages with driving gear, and driving gear is fixed on the output shaft of motor 2-3, and described motor is fixed on cantilever 2,Motor can pass through gear--and shaft transmission driving device pawl 1 rotates centered by axle 2-1; Described cantilever 2 movablyBe arranged on column 3, and cantilever is connected with the push rod of a lift cylinder 4, the push rod of lift cylinder 4 drives cantilever 2 edgesColumn 3 moves up and down, cantilever 2 driving mechanical pawl 1 knee-actions.
When use, the actuating strut of hydraulic cylinder drives two the clamping forearms action being hinged with connecting rod bottom, two by connecting rodIndividual clamping forearm drives two to clamp large arms and on underframe, do opening and closing movement, completes the blessing operation to workpiece, due to twoThe blessing face of the large arm of individual clamping is provided with the neonychium of quality of rubber materials, thereby can effectively protect the table of the workpiece of plastic materialFace does not sustain damage, and while running into the water of surface of the work or fluid due to quality of rubber materials, the frictional force of itself and workpiece can be greatlyReduce, can effectively strengthen and the frictional force of workpiece so be coated with layer of cloth on the surface of rubber protection pad, prevent due to bandThere is the frictional force the situation too small and workpiece that drops between surface of the work and the rubber of moisture or fluid to occur.
Above the utility model is done to exemplary description, should be noted that and do not departing from core of the present utility modelSituation under, any simple distortion, amendment or other those skilled in the art can not spend creative work etc.All fall into protection domain of the present utility model with replacement.
Claims (4)
1. a hydraulic mechanical hand device, is characterized in that: comprise a gripper, described gripper comprises hydraulic cylinder, companyBar, two large arms of clamping, two clampings forearm, cannulated sleeve and underframe, the bottom of hydraulic cylinder and the tops of cannulated sleeveBe fixedly connected with, and hydraulic cylinder and cannulated sleeve coaxially arrange, the bottom of cannulated sleeve is fixedly connected with the top of underframe, liquidThe actuating strut of cylinder pressure is fixedly connected with the top of connecting rod, and described connecting rod is coaxially arranged on cannulated sleeve inside, the bottom of connecting rodHinged by the bearing pin through underframe and two one end that clamp forearm, cut with scissors by bearing pin respectively two one end that clamp large armBe connected on underframe, and two other ends that clamp forearm are hinged by bearing pin and two large arms of clamping respectively; Described twoClamp the neonychium that one side that large arm is relative is provided with quality of rubber materials, the surface of neonychium is coated with the layer of cloth that material is terylene;
The sleeve of described gripper is fixedly connected with one end of axle, and axle is vertical with sleeve, and the other end of axle is by bearing and outstandingArm connects, and on axle, is fixed with driven gear, and driven gear engages with driving gear, and driving gear is fixed on the defeated of motorOn shaft, described motor is fixed on cantilever; Described cantilever is arranged on column movably.
2. a kind of hydraulic mechanical hand device according to claim 1, is characterized in that: cantilever and a lift cylinderPush rod connects, and the push rod of lift cylinder drives cantilever to move up and down along column.
3. a kind of hydraulic mechanical hand device according to claim 1, is characterized in that: described two clamp large arms withThe vertical bisector of underframe becomes symmetric relation, and described two clamping forearms become symmetric relation with the vertical bisector of underframe.
4. a kind of hydraulic mechanical hand device according to claim 1, is characterized in that: ply gage is 1mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521123536.9U CN205255002U (en) | 2015-12-28 | 2015-12-28 | Hydraulic mechanical hand device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521123536.9U CN205255002U (en) | 2015-12-28 | 2015-12-28 | Hydraulic mechanical hand device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205255002U true CN205255002U (en) | 2016-05-25 |
Family
ID=55996552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521123536.9U Expired - Fee Related CN205255002U (en) | 2015-12-28 | 2015-12-28 | Hydraulic mechanical hand device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205255002U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234613A (en) * | 2017-06-16 | 2017-10-10 | 无锡市京锡冶金液压机电有限公司 | Hydraulic mechanical hand |
| CN108444681A (en) * | 2018-05-29 | 2018-08-24 | 葛成侠 | A kind of manufacture craft of automobile lamp |
| CN108716971A (en) * | 2018-05-29 | 2018-10-30 | 葛成侠 | A kind of automobile lamp nondestructive testing instrument based on light-source brightness detection |
-
2015
- 2015-12-28 CN CN201521123536.9U patent/CN205255002U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107234613A (en) * | 2017-06-16 | 2017-10-10 | 无锡市京锡冶金液压机电有限公司 | Hydraulic mechanical hand |
| CN108444681A (en) * | 2018-05-29 | 2018-08-24 | 葛成侠 | A kind of manufacture craft of automobile lamp |
| CN108716971A (en) * | 2018-05-29 | 2018-10-30 | 葛成侠 | A kind of automobile lamp nondestructive testing instrument based on light-source brightness detection |
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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: 20160525 Termination date: 20161228 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |