201010838 九、發明說明： 【發明所屬之技術領域】 是用作注塑機的合模機構的曲手 本發明涉及一種曲手機構，尤其 機構。 【先前技術】 習知的注賴合模_上的曲錢構較五_ 示，其中小連杆1‘下端與十字車壁5 '· ϋ第一圖所 于早望5较接、上201010838 IX. Description of the invention: [Technical field to which the invention pertains] is a curved hand used as a clamping mechanism for an injection molding machine. The present invention relates to a curved hand mechanism, particularly a mechanism. [Prior Art] The conventional 注 合 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Ο =大曲連手^嶋吻7‘，料2‘_術大= 接，織3的另—端編6‘_，作為合模和開模的作用端。 五點式曲手機構的優點是肘曲手與大連杆鉸接處的财的剪切 力較小，軸的壽命較長。其缺點之—是力的放大比例較低，如第二圖 所不’此缺點將在實施财與本發明對比分析。缺點之二是財曲手的 財曲部在合模時較到的讎力很大，容易變形、剛性不夠，甚至失 穩’影響合模的精確度。如第一圖所示，財曲手2‘的肘曲部受小連 杆1的頂推力的分力F1‘和大連杆3‘頂推力F2‘的擠壓。 目刼有人試驗的四點式曲手機構，其鉸接部的結構如第三、四 圖所示，在合模時，主要的剪切力發生在肘曲手2‘和大連杆3‘，小 連杆Γ被夾在兩大剪切力發生部件之間，延長了剪切力的力臂，放 大了剪切力’使得小連杆1‘處的銷軸4‘非常容易被破壞。即便增大 銷轴的尺寸’也無濟於事，原因在於合模時的銷軸4‘上的剪力太大 了。因此，四點式結構雖然有人試驗，卻一直不能應用於生產實際。 【發明内容】 201010838 本發财麟現纽__手機構的均舰，提供一種對力 的放大比例大、合模精確度高的注塑機的四點式曲手機構。 本發明所述的四點式曲手機構，包括下端與十字車壁錢接的小連 杆、後端與機架鉸接的肘曲手、前端與動模板鉸接的大連杆，其特徵 在於：所述的小連杆的上端、肘曲手的前端、大連杆的後端共同錢接 於同-鎖軸上；所述的小連杆的在銷軸處的鉸接部位只與肘曲手或大 連杆之一相鄰。 ❹ 進-步，所述的財曲手通過第一鉸接部、第二鉸接部、第三欽接 部、第四叙接部與銷軸連接，所述的第一鉸接部與第二鉸接部之間形 成第-凹槽’所述的第二鉸接部與第三欽接部之間形成中心凹槽，所 述的第三鉸接部與第四鉸接部之卿成第二_，所述的第—凹槽和 第一凹槽關於中心凹槽的中線對稱；所述的小連杆的鉸接部置於中心 凹槽，所述的大連杆通過第五较接部和第六鉸接部與所述銷軸連接， 所述的第五鉸接部和第六鉸接部的内侧分別緊貼第三鉸接部和第四 ©鉸接部的外侧。 或者’所述的肘曲手通過第一鉸接部、第二鉸接部與銷軸連接， 所述的第—鉸接部、第二鉸接部對稱設置，所述的第一鉸接部與第二 金人接部之間形成中心凹槽.，所述的小連杆的鉸接部置於中心凹槽中； 所述的大連杆通過第三鉸接部、 第四鉸接部與所述銷軸連接，所述的 一较接部與第四鉸接部的内侧緊貼所述的第一鉸接部和第二鉸接 部的外側。 或者，所述的肘曲手通過第一鉸接部、第二鉸接部、第三鉸接部、 6 201010838 :四:接部與銷軸連接，所述的第一鉸接部與第二鉸接部之間形成第 I凹槽，所述的第二鉸接部與第三鼓接部之間形成中心凹槽，所述的 弟二域部與第四鉸接部之間形成第二凹槽，所 凹槽關於中心凹_情_;所侧、軸·八織部、= 祕部與銷軸連接，所述的第八鉸接部置於第1槽中，第九織部 置於紅凹槽中；所述的大連杆通過第五鼓接部、第六欽接部、第七 鉸接部與所蘭軸連接爾的第五_卩和第域接於第六欽 ❹接部的中線對稱，所述的第六鉸接部置於中心凹槽中，所述的第錢 接部與第六鉸接部的内側分別緊貼第一鉸接部和第二鉸接部的外側。 或者，所述的財曲手通過第一较接部、第二錢接部、第三欽接部、 第四鉸接部朗軸連接，_的第—鋪部料二織狀間形成第 凹槽，所述的第二欽接部與第三鉸接部之間形成中心凹槽，所述的 第三鉸接部與第四錢接部之間形成第二凹槽，所述的第一凹槽和第三 凹槽關於中側槽財線對稱；所述社連杆通過第五鉸接部、第六 ©鉸接部、壯鉸接部與所·軸連接，所述的第五鉸接部和第七錄接 部關於第六鉸接部的中線對稱；所述的第六錢接部置於中心凹槽中， 所述的第五鉸接部和第七鉸接部分別置於所述的第—凹槽、第二凹 槽，所述的小連杆通過第八鉸接冑、第九鉸接部與所述銷轴連接，所 述的第人鉸接部的_緊貼第二鉸接部的外侧，第九鉸接㈣内側緊 貼第三錢接部的外側。 本發明比較五點式斜機構具有較大的力的放大比例，如第二、 六圖所示： 7 201010838 n㈣手機構在離完全_ s轉一 _動s距離 *、油紅移動的距離哪個長？設四點式油叙移動S2，五點式移動 I。在賴力都為Fe的狀態下，運動距離長的則做功多㈣。以）， 由動模板移動距離為S，四點式和五點式力輸出分顺崎Fi，則力 放大後為：Ο = Daqu with the hand ^ 嶋 kiss 7 ', material 2 '_ surgery big = connect, weave 3 another - end edit 6 '_, as the end of the mold and mold opening. The advantage of the five-point curved hand mechanism is that the shearing force of the elbow hand and the large connecting rod is small, and the life of the shaft is long. The disadvantage is that the power amplification ratio is low, as shown in the second figure. This shortcoming will be compared with the implementation of the invention. The second shortcoming is that the financial department of the financial tracker has a lot of power in the mold clamping, which is easy to deform, not rigid enough, and even unstable, which affects the accuracy of clamping. As shown in the first figure, the elbow portion of the rich hand 2' is pressed by the component force F1' of the top thrust of the small link 1 and the large link 3 'top thrust F2'. The four-point curved hand mechanism that has been tested by others has a hinge structure as shown in the third and fourth figures. When clamping, the main shearing force occurs in the elbow hand 2' and the large link 3'. The link Γ is sandwiched between the two shear force generating members, and the force arm that extends the shear force enlarges the shear force 'so that the pin 4' at the small link 1' is very easily broken. Even if the size of the pin is increased, it does not help because the shearing force on the pin 4' at the time of mold clamping is too large. Therefore, although the four-point structure has been tested, it has not been applied to production practice. [Summary of the Invention] 201010838 This is the four-point curved hand mechanism of an injection molding machine with a large magnification ratio and high precision of clamping. The four-point curved hand mechanism of the present invention comprises a small connecting rod with a lower end connected to the cross-car wall, an elbow hand hinged at the rear end and the frame, and a large connecting rod hinged at the front end and the movable template, characterized in that: The upper end of the small connecting rod, the front end of the elbow hand, and the rear end of the large connecting rod are jointly connected to the same-locking shaft; the hinge portion of the small connecting rod at the pin shaft is only with the elbow or Dalian One of the rods is adjacent. ❹In step, the financial hand is connected to the pin through the first hinge portion, the second hinge portion, the third joint portion, and the fourth joint portion, the first hinge portion and the second hinge portion Forming a central groove between the second hinge portion and the third abutting portion formed between the first groove and the third hinge portion, wherein the third hinge portion and the fourth hinge portion are formed into a second_ The first groove and the first groove are symmetric about a center line of the center groove; the hinge portion of the small link is placed in a center groove, and the large link passes through the fifth butt joint and the sixth hinge The pin shaft is connected, and the inner sides of the fifth hinge portion and the sixth hinge portion respectively abut the outer sides of the third hinge portion and the fourth letter hinge portion. Or the elbow hand is connected to the pin through the first hinge portion and the second hinge portion, the first hinge portion and the second hinge portion are symmetrically disposed, and the first hinge portion and the second gold person are symmetrically disposed. Forming a central groove between the joints, the hinge portion of the small link is disposed in the central groove; the large link is connected to the pin through the third hinge portion and the fourth hinge portion, A connecting portion and an inner side of the fourth hinge portion abut against the outer sides of the first hinge portion and the second hinge portion. Alternatively, the elbow hand is connected to the pin shaft through the first hinge portion, the second hinge portion, the third hinge portion, 6 201010838: four joint portions, between the first hinge portion and the second hinge portion Forming a first groove, a central groove is formed between the second hinge portion and the third drum portion, and a second groove is formed between the second body portion and the fourth hinge portion. Center concave, _ _ _ side, shaft · eight woven, = secret part and pin connection, the eighth hinge is placed in the first groove, the ninth woven part is placed in the red groove; The rod is symmetrically connected to the center line of the sixth chin joint by the fifth knuckle portion, the sixth plucking portion, the seventh hinge portion, and the fifth axis of the blue shaft joint, the sixth The hinge portion is disposed in the central recess, and the inner side of the first money joint and the sixth hinge portion respectively abut the outer sides of the first hinge portion and the second hinge portion. Alternatively, the financial hand is connected by the first butt joint, the second money joint, the third joint, and the fourth hinge, and the first groove forms a first groove. a central groove is formed between the second inching portion and the third hinge portion, and a second groove is formed between the third hinge portion and the fourth money portion, the first groove and The third groove is symmetrical about the middle side groove; the social link is connected to the shaft through the fifth hinge, the sixth hinge, and the strong hinge, and the fifth hinge and the seventh record a central line symmetry about the sixth hinge portion; the sixth money joint is placed in the central groove, and the fifth hinge portion and the seventh hinge portion are respectively placed in the first groove, the first a two-groove, the small connecting rod is connected to the pin shaft through an eighth hinged 胄, a ninth hinge portion, the _ _ of the first hinge portion is adjacent to the outer side of the second hinge portion, and the ninth hinge (four) is inside Close to the outside of the third money joint. The invention compares the five-point oblique mechanism with a larger force amplification ratio, as shown in the second and sixth figures: 7 201010838 n (four) the distance from the full _ s to a _ motion s distance *, the distance from the oil red movement long? Set four-point oil movement S2, five-point movement I. In the state where the Lai force is Fe, the movement distance is long (4). In order to move the distance from the moving template to S, the four-point and five-point force output is divided into Shunqi Fi, and the force is amplified:
F2=S2*F〇/S 〇 Fi=Si*F〇/S 現若證明&> Sl ’則可說明F2〉Fl，即四點式放大倍率大於五點式。 如上圖’四點式中原曲手四點為ΡΕΜΑ，移動S距離後的圖中四點距 離為PCMA。 五點式中原曲手五點為hEADA，移動s後五點位置為PlClMlDBl。 然後連接AC，彪匕，AA，BC，由於曲手移動後CA^CA且與水 平線AB和AlBl夾角相等為<9，另AE^EfBC，設其長度為d，設 © CA=AiOa，設 GD=b，DiAi=c，BiCi=di 在ΔΑΒ(]中得出：F2=S2*F〇/S 〇 Fi=Si*F〇/S If you prove &> Sl ', then F2>Fl, that is, the four-point magnification is greater than five-point. As shown in the above figure, the four-point mid-original hand is four points, and the four-point distance in the figure after moving the S distance is PCMA. The five-point Central Plains hand is five points for hEADA, and the five points after moving s is PlClMlDBl. Then connect AC, 彪匕, AA, BC, because CA ^ CA after the movement of the curved hand and the angle between the horizontal line AB and AlBl is equal to < 9, another AE ^ EfBC, set its length to d, set © CA = AiOa, set GD=b, DiAi=c, BiCi=di is obtained in ΔΑΒ(]:
Sin ^ / d=Sin a /a=Sin /3 /S2.....................① 在AAiBiCi中得出：Sin ^ / d=Sin a /a=Sin /3 /S2.....................1 In AAiBiCi:
Sin 6> / di=Sin a i/a=Sin β i/Si.................,② 在ΔΑΦιΕι和ΛΒιβ(^ι中可得出d>di 由①/②可得： §lll£Z^ = §in^/a, ώ = Sing 201010838Sin 6> / di=Sin ai/a=Sin β i/Si................., 2 In ΔΑΦιΕι and ΛΒιβ (^ι can be derived d>di by 1/2 available: §lll£Z^ = §in^/a, ώ = Sing 201010838
Sin0/di Sina ι/a d Sinai => Sina <Sina i => a<a\ β = π-α-θ β\=π-α\~θ β-β\= { η -α - θ - ( π~αι~θ ) = αι-α *.* α<αι .·· /3-ΑΜ)即/3〉^ φ Sin^>SinySi 由①②得： S2= Sin^*d/ Sin0 Si= Sin 冷 i*di/ Sin<9 .Sin^>Sin^i d> di SinΘ >〇 ...S2> Si 故可證明⑽h故四赋放大鲜大於五點式。 ❹ 由於本發明中的小連杆的在鎖軸處的绞接部位只與肘曲手或大 連杆之-相鄰，避免了夹在社剪力部件之間、延長剪力的力臂，因 此在小連杆處_軸上的f力得以減小，剪切破壞得以避免。 本發明的四點式曲手結構由於避免了肘曲手上的肘曲部受擠壓 的情況，其提高合模精度的優點也是顯然的。 本發明的伽是：力的放大倍數高、合模精度高、小連杆處的銷 轴抗剪切性好、使用壽命長。 _ 【實施方式】 9 201010838 實施例一 參照附圖第五、六、七圖： 本發明所述_點式曲手機構，包括下端與十字車壁5鉸接的小 連杆卜後端與機架鉸接的肘曲手2、前端與動模板较接的大連杆3， 所述的小連杆1的上端、肘曲手2的前端、大連杆3的後端共同鉸接 於同、鎖軸4上，所述的小連的在銷軸4處的欽接部位只與財曲 手2或大連杆3之一相鄰。 ❹所述的小連杆1、財曲手2和大連杆3麵轴4處的具體的連接 關係為：所述的肘曲手2 過第—鉸接部2U、第二敛接部212、第 三鉸接部213、第四鉸接部214與銷軸4連接，所述的第-鉸接部21! 與第二鉸接部212之間形成第—凹槽犯，所述的第二鉸接部212與 第二鉸接部213之間形成中心凹槽216，所述的第三欽接部那與第 四鉸接部2H之間形成第二凹槽217，所述的第—凹槽215和第二凹 槽217關於中心凹槽216的中線對稱；所述的小連杆i的鉸接部ln ❹置於中心凹請中；所述的大連杆3通過第五鉸接部3ii和第六绞 接部312與所述銷軸4連接，所述的第五鉸接_和第六鉸接部 312的内側分別緊貼第三鉸接部213和第四鉸接部214的外侧。 實施例二 參照附圖第五、六、八圖： 實施例二與實施例一的區別之處在於：所述的肘曲手2通過第-欽接部221、第二鉸接部222與_ 4連接，所述的第-鉸接部221、 第二较接部222對稱設置’所述的第一狡接部221與第二鉸接部222 201010838 ' 之間形成中心凹槽223，所述的小連杆1的鉸接部121置於凹槽223 中；所述的大連杆通過第三鉸接部321、第四鉸接部322與所述銷軸 4連接，所述的第三鉸接部321與第四鉸接部322對稱設置，所述的 第二较接部321與第四鉸接部322的内侧緊貼所述的第一鉸接部221 和第一叙接部222的外侧41 實施例三 參照附圖第五、六、九圖： Ο 實施例三與實施例一的區別之處在於：所述的肘曲手2通過第一 鉸接部231、第二鉸接部232、第三錢接部233、第四鉸接部234與 銷軸4連接’所述的第一鉸接部231與第二鉸接部232之間形成第一 凹槽235 ’所述的第二鉸接部232與第三鉸接部233之間形成中心凹 槽236，所述的第三鉸接部233與第四鉸接部234之間形成第二凹槽 237 ’所述的第一凹槽235和第二凹槽237關於中心凹槽236的中線 對稱；所述的小連杆1通過第八鉸接部13卜第九鉸接部132與銷軸 © 4連接’所述的第八鉸接部131的内侧緊貼第二鉸接部娜的外侧， 第九鼓接部132的内側緊貼第三鉸接部233的外側；所述的大連杆3 通過第五鉸接部331、第六鉸接部332、第七鉸接部333與所述銷軸 4連接’所述的第五鉸接部331和第七鉸接部333關於第六鉸接部332 的中線對稱’所述的第六鉸接部332置於中心凹槽236中，所述的第 五鉸接部331與第六鉸接部332的内側分別緊貼第一鉸接部231和第 一欽接部232的外侧。 11 201010838 實施例四 參照附圖第五、六、十圖： 實施例四與實施例-的區別之處在於：所述的財曲手2通過第 一较接部241、第二欽接部⑽、第三鉸接部如、第四錢接糊 與銷軸4連接，所述的第一鉸接部241與第二鉸接部撕之 ❹ 一凹槽245 ’所述的第二鉸接物與第三鉸接糊之間形成中心 凹槽246 ’所述的第三錢接部如與第四鉸接部施之間形成第二凹 槽247，所述的第一凹槽施和第三凹諸關於中心凹槽施的中 線對稱；所述的大連杆3通過第五鉸接部341、第六錢接部⑽ 七鉸接部343與所述鎖軸4連接，所述的第五欽接部341和第 部343關於第六鉸接部342的中線對稱，所述的第五錢接部341和第 七鉸接部343分別置於所述的第一凹槽挪、第二凹槽撕，·所 小連杆1通過第八鉸接部14卜第九鉸接部142與所述銷轴4連接， 所述的第八鉸接部141和第九錢接部142的内側分別緊貼所述的第— •鉸接部241和第四鉸接部244的外側。 本說明書實施例所述的内容僅僅是對發明構思的實現形式的列 舉’本發明的保護範圍的不應當被視為僅限於實施例所陳述的具體形 式，本發明的保護範圍也及於本領域技術人員根據本發明構 = 想到的等同技術手段。 句 【圖式簡單說明】 第一圖係現有五點式曲手機構的結構示意圖。 第二圖係現有五點式曲手機構的運動分析圖。 12 201010838 第一圖係财四點式料結構的鉸接部的結構示意圖之一。 第四圖係财四點式曲手結構的鉸接部義構示意圖之二。 第五圖係本發明的結構示意圖。 第六圖係本發明的運動分析圖。 第七圖係本發明的鉸接部的結構形式之一。 第八圖係本發明的鉸接部的結構形式之二。 第九圖係本發明的鉸接部的結構形式之三。 © 第十圖係本發明的鉸接部的結構形式之四。 【主要元件符號說明】 — - 小連杆1 鉸接部111 鉸接部121 第八鉸接部131 第九鉸接部132 第八鉸接部141 第九鉸接部142 肘曲手2 第一鉸接部211 第二鉸接部212 第三鉸接部213 第四鉸接部214 第一凹槽215 中心凹槽216 第二凹槽217 第一鉸接部221 第二鉸接部222 中心凹槽223 第一鉸接部231 第二鉸接部232 第三鉸接部233 第四鉸接部234 第一凹槽235 中心凹槽236 第二凹槽237 第一鉸接部241 第二鉸接部242 第三鉸接部243 第四鉸接部244 第一凹槽245 中心凹槽246 第二凹槽247 大連杆3 第五鉸接部311 第六鉸接部312 第三鉸接部321 第四鉸接部322 第五鉸接部331 第六鉸接部332 13 201010838 第七鉸接部333 第五鉸接部341 第六鉸接部342 第七鉸接部343 銷軸4 十字車壁5 小連杆Γ 肘曲手2‘ 大連杆3‘ 銷軸4‘ 十字車壁5‘ 模具6‘ 車架7‘ 分力FT 頂推力F2‘ ❹Sin0/di Sina ι/ad Sinai => Sina <Sina i =>a<a\ β = π-α-θ β\=π-α\~θ β-β\= { η -α - θ - ( π~αι~θ ) = αι-α *.* α<αι .·· /3-ΑΜ) ie /3>^ φ Sin^>SinySi is obtained from 12: S2= Sin^*d/ Sin0 Si = Sin cold i*di/ Sin<9.Sin^>Sin^i d> di SinΘ >〇...S2> Si can prove that (10)h, the four-fused enlargement is rarely greater than five-point. ❹ Since the spliced portion of the small connecting rod at the lock shaft of the present invention is only adjacent to the elbow or the large connecting rod, the force arm that is sandwiched between the shearing members and prolongs the shearing force is avoided, so The f-force on the _shaft at the small link is reduced and shear damage is avoided. The four-point curved hand structure of the present invention is also advantageous in that the elbow portion of the elbow is prevented from being squeezed. The gamma of the invention is: the magnification of the force is high, the clamping precision is high, the pin shaft of the small connecting rod has good shear resistance and the service life is long. _ [Embodiment] 9 201010838 Embodiment 1 Referring to the drawings, Figures 5, 6 and 7: The _ point type crank mechanism of the present invention includes a small connecting rod rear end and a frame hinged at the lower end and the cross cart wall 5 The articulated elbow hand 2, the large connecting rod 3 whose front end is connected with the moving template, the upper end of the small connecting rod 1, the front end of the elbow hand 2, and the rear end of the large connecting rod 3 are jointly hinged to the same and the locking shaft 4 The indented portion of the small joint at the pin 4 is adjacent to only one of the rich hand 2 or the large link 3. The specific connection relationship between the small connecting rod 1, the rich hand 2 and the large connecting rod 3 face shaft 4 is as follows: the elbow hand 2 passes through the first hinge portion 2U, the second protruding portion 212, and the The third hinge portion 213 and the fourth hinge portion 214 are connected to the pin shaft 4, and the first hinge portion 21! and the second hinge portion 212 form a first groove, and the second hinge portion 212 and the second hinge portion 212 A central groove 216 is formed between the two hinge portions 213, and a second groove 217 is formed between the third abutting portion and the fourth hinge portion 2H, and the first groove 215 and the second groove 217 are formed. Regarding the center line symmetry of the center groove 216; the hinge portion ln ❹ of the small link i is placed in the center recess; the large link 3 passes through the fifth hinge portion 3ii and the sixth hinge portion 312 The pin shafts 4 are connected, and the inner sides of the fifth hinge and the sixth hinge portion 312 are respectively in contact with the outer sides of the third hinge portion 213 and the fourth hinge portion 214. Embodiment 2 refers to FIG. 5, FIG. 6 and FIG. 8 : Embodiment 2 is different from Embodiment 1 in that the elbow hand 2 passes through the first-engagement portion 221 and the second hinge portion 222 and _ 4 The first hinge portion 221 and the second hinge portion 222 201010838 ' are symmetrically disposed to form a central recess 223 between the first hinge portion 221 and the second joint portion 222. The hinge portion 121 of the rod 1 is placed in the groove 223; the large connecting rod is connected to the pin shaft 4 through the third hinge portion 321 and the fourth hinge portion 322, and the third hinge portion 321 and the fourth hinge joint The portion 322 is symmetrically disposed, and the inner sides of the second connecting portion 321 and the fourth hinge portion 322 are in close contact with the outer side of the first hinge portion 221 and the first joint portion 222. The sixth embodiment is different from the first embodiment in that the elbow hand 2 passes through the first hinge portion 231, the second hinge portion 232, the third money joint portion 233, and the fourth hinge. The second hinge portion 2 is formed between the first hinge portion 231 and the second hinge portion 232. A central groove 236 is formed between the 32 and the third hinge portion 233, and the first groove 235 and the second groove are formed between the third hinge portion 233 and the fourth hinge portion 234. The groove 237 is symmetrical about the center line of the center groove 236; the small link 1 is closely attached to the inner side of the eighth hinge portion 131 by the eighth hinge portion 13 and the yoke portion 132. The outer side of the second hinge portion, the inner side of the ninth drum portion 132 abuts the outer side of the third hinge portion 233; the large link 3 passes through the fifth hinge portion 331, the sixth hinge portion 332, and the seventh hinge portion 333. Connected to the pin 4, the fifth hinge portion 331 and the seventh hinge portion 333 are symmetrically disposed about the center line of the sixth hinge portion 332, and the sixth hinge portion 332 is placed in the center groove 236. The inner sides of the fifth hinge portion 331 and the sixth hinge portion 332 are respectively in contact with the outer sides of the first hinge portion 231 and the first engagement portion 232. 11 201010838 Embodiment 4 refers to the fifth, sixth, and tenth drawings: The fourth embodiment differs from the embodiment in that the financial hand 2 passes through the first connecting portion 241 and the second matching portion (10). The third hinge portion, for example, the fourth money is connected to the pin 4, the first hinge portion 241 and the second hinge portion are torn by a second hinge and the third hinge Forming a second groove 247 between the paste forming a central groove 246', such as the fourth groove, and the first groove and the third groove are about the center groove The center line is symmetric; the large connecting rod 3 is connected to the lock shaft 4 through a fifth hinge portion 341 and a sixth joint portion 3-4, and the fifth inching portion 341 and the third portion 343 are connected. Regarding the center line symmetry of the sixth hinge portion 342, the fifth money joint portion 341 and the seventh hinge portion 343 are respectively placed in the first groove and the second groove, and the small link 1 is The ninth hinge portion 142 is connected to the pin shaft 4 through the eighth hinge portion 14 , and the inner sides of the eighth hinge portion 141 and the ninth money joint portion 142 are respectively attached to the first portion — The outside of the hinge 241 and the fourth hinge 244. The content of the embodiments of the present specification is merely an exemplification of the implementation of the inventive concept. The scope of the present invention should not be construed as being limited to the specific forms set forth in the embodiments. The scope of the present invention is also in the field. The equivalent technical means that the skilled person contemplates in accordance with the present invention. Sentence [Simple description of the diagram] The first diagram is a schematic diagram of the structure of the existing five-point curved hand mechanism. The second picture is a motion analysis diagram of the existing five-point curved hand mechanism. 12 201010838 The first picture shows one of the structural diagrams of the hinge of the four-point material structure. The fourth picture is the second schematic diagram of the hinge structure of the four-point curved hand structure. The fifth drawing is a schematic view of the structure of the present invention. The sixth figure is a motion analysis diagram of the present invention. The seventh drawing is one of the structural forms of the hinge portion of the present invention. The eighth figure is the second structural form of the hinge portion of the present invention. The ninth drawing is the third structural form of the hinge portion of the present invention. © Tenth is a fourth structural form of the hinge of the present invention. [Description of main component symbols] - - Small link 1 hinge 111 Hinge 121 Eighth hinge 131 Ninth joint 132 Eighth hinge 141 Ninth joint 142 Elbow hand 2 First hinge 211 Second hinge Portion 212 third hinge portion 213 fourth hinge portion 214 first groove 215 center groove 216 second groove 217 first hinge portion 221 second hinge portion 222 center groove 223 first hinge portion 231 second hinge portion 232 Third hinge portion 233 fourth hinge portion 234 first groove 235 center groove 236 second groove 237 first hinge portion 241 second hinge portion 242 third hinge portion 243 fourth hinge portion 244 first groove 245 center Groove 246 Second groove 247 Large link 3 Fifth hinge 311 Sixth hinge 312 Third hinge 321 Fourth hinge 322 Fifth hinge 331 Sixth hinge 332 13 201010838 Seven hinge 333 Fifth Hinge 341 sixth hinge 342 seventh hinge 343 pin 4 cross wall 5 small link 肘 elbow hand 2' large link 3' pin 4' cross car wall 5' die 6' frame 7' points Force FT top thrust F2' ❹
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