CN205799561U - A kind of mechanical hand - Google Patents
A kind of mechanical hand Download PDFInfo
- Publication number
- CN205799561U CN205799561U CN201620562767.8U CN201620562767U CN205799561U CN 205799561 U CN205799561 U CN 205799561U CN 201620562767 U CN201620562767 U CN 201620562767U CN 205799561 U CN205799561 U CN 205799561U
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- China
- Prior art keywords
- jig arm
- tooth bar
- location
- mechanical hand
- plate
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Abstract
The open a kind of mechanical hand of this utility model, including the first jig arm, the second jig arm and actuating mechanism, actuating mechanism includes mounting seat, cylinder, gear, the first tooth bar and the second tooth bar, gear is spindle rotationally arranged in mounting seat, one end of first tooth bar is fixing with the first jig arm to be connected, one end of second tooth bar is fixing with the second jig arm to be connected, first tooth bar and the second tooth bar parallel interval arrange and are engaged on respectively on gear, cylinder fixed installation is arranged, and the piston-rod end of cylinder connects the first jig arm or the second jig arm.Above-mentioned actuating mechanism enable to the first jig arm synchronize with the second jig arm symmetrical expression relative to or rightabout move and realize the opening and closing action of mechanical hand；When mechanical hand is arranged in plant equipment, center and the Working position center alignment of plant equipment, allowing for mechanical hand and remain that when clamping workpiece the center of workpiece keeps consistent with the Working position center of machinery, mechanical hand slides more steady when action, clamps more firm.
Description
Technical field
This utility model relates to workpiece mechanical gripping means, and being specifically related to a kind of two mechanical arms can the machine of synchronization action
Tool hands.
Background technology
Existing robot manipulator structure has a variety of, the structure of mechanical hand generally include two jig arm and control two jig arm one end from
And make two jig arm realize the actuating mechanism of opening and closing action, in more existing mechanical hands, actuating mechanism is generally only with cylinder
Or the drive mechanism of other machineries realizes action, but two jig arm can not be reached during more existing its action of actuating mechanisms
Synchronization action, so gripping workpiece can slightly offset, and this requires some higher workpiece and machinery for a few thing center
For can produce the processing of bigger problem, such as Wheel, add Wheel in man-hour centrage will with in the processing of plant equipment
Heart line keeps consistent, and slightly deviation is exactly to affect the normal use of Wheel, and automobile the most later uses can improve peace
The incidence rate of full hidden danger, therefore, the workpiece so produced belongs to substandard product.
Utility model content
The purpose of this utility model is to provide a kind of mechanical hand, and this robot manipulator structure is reasonable in design, its left jig arm and right side
Jig arm can synchronization action, the center of workpiece can be kept after clamping to keep consistent with machining center, effectively solve to show
There is problem present in technology.
For solving this technical problem, the technical solution of the utility model is: a kind of mechanical hand, including the first jig arm, second
Connecting the actuating mechanism of setting between jig arm and the first jig arm and the second jig arm, described actuating mechanism includes mounting seat, cylinder, tooth
Wheel, the first tooth bar and the second tooth bar, described gear is spindle rotationally arranged in mounting seat, one end and first of described first tooth bar
Jig arm is fixing to be connected, and one end of described second tooth bar is fixing with the second jig arm to be connected, and described first tooth bar and the second tooth bar are parallel
Interval arranges and is engaged on respectively on gear, and the fixed installation of described cylinder is arranged, and the piston-rod end of described cylinder connects first
Jig arm or the second jig arm.
Described first jig arm is symmetrical arranged for the axis of symmetry with gear centre with the second jig arm.
It is fixed with positioning seat in described mounting seat, described positioning seat offers respectively for the first tooth bar and the second tooth bar
The pilot hole slided through positioning and guiding.
Described gear is arranged on positioning seat.
Described mounting seat is provided with slide rail, and described first jig arm includes the first location-plate, and described first location-plate sets
Having the first slide block slided on slide rail, described second jig arm includes the second location-plate, and described second location-plate is provided with slip
The second slide block on slide rail.
Described first jig arm includes the 3rd location-plate, and described first tooth bar is connected on the 3rd location-plate, and described second
Jig arm includes the 4th location-plate, and described second tooth bar is connected on the 4th location-plate.
The piston-rod end of described cylinder connects on the 3rd location-plate or the 4th location-plate.
Offer the first through hole passed for the second tooth bar on described 3rd location-plate, described 4th location-plate offers
The second through hole passed for the first tooth bar.
Described mounting seat is provided with and covers gear, the first tooth bar and the housing of the second tooth bar, and described cylinder passes through support
It is fixedly installed on outside housing.
By using technique scheme, the beneficial effects of the utility model are: above-mentioned actuating mechanism is due to the first tooth bar
Being engaged on respectively on same gear with the second tooth bar, therefore, drive a tooth bar action during cylinder action, another tooth bar also can synchronize
Action, the first jig arm and the second jig arm are connected on the first tooth bar and the second tooth bar, so the first jig arm and second
Jig arm can synchronize symmetrical expression relative to or rightabout move and realize the opening and closing action of mechanical hand；Above-mentioned first jig arm and second
Jig arm is symmetrical arranged with gear centre for the axis of symmetry, as long as therefore mechanical hand is arranged in plant equipment, and center and machinery
The Working position center alignment of equipment, it becomes possible to make mechanical hand remain center and the machine of workpiece when clamping workpiece
The Working position center of tool keeps consistent thus solves problems of the prior art；Above-mentioned first jig arm and the second jig arm
And the mechanism between structure setting and above-mentioned first tooth bar and the second tooth bar and mounting seat between mounting seat arranges and can make
Obtain mechanical hand and slide when action more steady, clamp more firm.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of mechanical hand that this utility model relates to.
Fig. 2 and Fig. 3 be a kind of mechanical hand that this utility model relates to two in the sectional structure schematic diagram of different angles.
Fig. 4, Fig. 5 and Fig. 6 are the structural representations of the other several angles of a kind of mechanical hand that utility model relates to
In figure:
First jig arm-1；First location-plate-11；3rd location-plate-12；First through hole-121；
Second jig arm-2；Second location-plate-21；4th location-plate-22；Second through hole-221；
Actuating mechanism-3；Mounting seat-31；Cylinder-32；Gear-33；
First tooth bar-34；Second tooth bar-35；Positioning seat-36；Pilot hole-361；
Slide rail-37；First slide block-371；Second slide block-372；
Housing-38；Support-39；Wheel-10.
Detailed description of the invention
In order to the technical solution of the utility model is explained further, below by specific embodiment, this utility model is entered
Row elaborates.
A kind of mechanical hand disclosed in this utility model, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, including the first folder
The actuating mechanism 3 of setting, action machine described in this enforcement is connected between arm the 1, second jig arm 2 and the first jig arm 1 and the second jig arm 2
Structure 3 includes mounting seat 31, cylinder 32, gear the 33, first tooth bar 34 and the second tooth bar 35, and the position annexation of each parts is,
Described gear 33 is spindle rotationally arranged in mounting seat 31, and one end of described first tooth bar 34 is fixing with the first jig arm 1 to be connected, institute
State that one end of the second tooth bar 35 is fixing with the second jig arm 2 to be connected, described first tooth bar 34 and the setting of the second tooth bar 35 parallel interval
And be engaged on respectively on gear 33, the fixed installation of described cylinder 32 is arranged, and the piston-rod end of described cylinder 32 connects the first folder
Arm 1 or the second jig arm 2.
Being described by said structure and combine accompanying drawing, it can be seen that during manipulator behavior, cylinder action drives a tooth bar action,
One tooth bar action can synchronize driven gear and rotate, and the most also synchronizes to drive another tooth bar action, thus realizes the first jig arm and the
Two jig arm can synchronize symmetrical expression relative to or rightabout move, it is achieved the opening and closing action of mechanical hand.
Further, as shown in Figure 1, Figure 2 and Figure 3, described first jig arm 1 and the second jig arm 2 are with gear 32 center as symmetry
Axisymmetrical is arranged, as long as therefore mechanical hand is arranged in plant equipment, and center and the Working position center pair of plant equipment
Together, it becomes possible to mechanical hand is remained when clamping workpiece, and the center of workpiece keeps with the Working position center of machinery
Unanimously, thus solve problems of the prior art.
Further, as shown in Figure 1, Figure 2 and Figure 3, described mounting seat 31 is fixed with positioning seat 36, described positioning seat 36
On offer the pilot hole 361 passed respectively for the first tooth bar 34 and the second tooth bar 35, this structure arranges and enables to the first tooth
Bar 34 and the second tooth bar 35 positioning and guiding on positioning seat 36 slides, so that mechanical hand slides more steady when action, and folder
Hold more firm.
Further, as shown in Figure 1, Figure 2 and Figure 3, described gear 33 is arranged on positioning seat 36, described shown in Fig. 3
The rotating shaft of gear 33 is installed by bearing and ring flange and is put on positioning seat 36.
Shown in Fig. 3 10 are processing workpiece Wheel.
Further, as depicted in figs. 1 and 2, described mounting seat 31 is provided with slide rail 37, and described first jig arm 1 includes
One location-plate 11, described first location-plate 11 is provided with the first slide block 371 slided on slide rail 37, and described second jig arm 2 is wrapped
Having included the second location-plate 21, described second location-plate 21 is provided with the second slide block 372 slided on slide rail 37, and this structure arranges energy
The first jig arm 1 and the second jig arm 2 positioning and guiding in mounting seat 31 is enough made to slide, so that mechanical hand slides when action
More steady, clamp more firm.
Further, as depicted in figs. 1 and 2, described first jig arm 1 includes the 3rd location-plate 12, described first tooth bar 34
Being connected on the 3rd location-plate 12, described second jig arm 2 includes the 4th location-plate 22, and described second tooth bar 35 is connected to the 4th
On location-plate 22, this structure arranges the installation settings being easy to two tooth bars.As it is shown in figure 1, the work of described cylinder 32 in the present embodiment
Stopper rod end connects on the 3rd location-plate 12 or the 4th location-plate 22, and this structure arranges the connection being easy to cylinder 32 and arranges.
Further, as shown in 1 and Fig. 2, described 3rd location-plate 12 offers supply the second tooth bar 35 to pass first and leads to
Hole 121, described 4th location-plate 22 offers the second through hole 221 passed for the first tooth bar 34.
Further, as shown in Figure 4, Figure 5 and Figure 6, described mounting seat 31 is provided with and covers gear the 33, first tooth bar 34 and
The housing 38 of the second tooth bar 35, described cylinder 32 is fixedly installed on outside housing 38 by support 39, and housing 38 is it can be avoided that action
Mechanism 3 exposes, it is to avoid or easily cause breaking down because of foreign object.
Above-described embodiment and graphic and non-limiting product form of the present utility model and style, any art
Those of ordinary skill is suitably changed what it did or modifies, and all should be regarded as without departing from patent category of the present utility model.
Claims (9)
1. a mechanical hand, including the action connecting setting between the first jig arm, the second jig arm and the first jig arm and the second jig arm
Mechanism, it is characterised in that: described actuating mechanism includes mounting seat, cylinder, gear, the first tooth bar and the second tooth bar, described gear
Being spindle rotationally arranged in mounting seat, one end of described first tooth bar is fixing with the first jig arm to be connected, the one of described second tooth bar
Holding be connected fixing with the second jig arm, described first tooth bar and the second tooth bar parallel interval arrange and are engaged on respectively on gear, institute
Stating cylinder fixed installation to arrange, the piston-rod end of described cylinder connects the first jig arm or the second jig arm.
2. a kind of mechanical hand as claimed in claim 1, it is characterised in that: described first jig arm and the second jig arm are with gear centre
It is symmetrical arranged for the axis of symmetry.
3. a kind of mechanical hand as claimed in claim 1, it is characterised in that: it is fixed with positioning seat in described mounting seat, described
The pilot hole slided through positioning and guiding respectively is offered for the first tooth bar and the second tooth bar on positioning seat.
4. a kind of mechanical hand as claimed in claim 3, it is characterised in that: described gear is arranged on positioning seat.
5. a kind of mechanical hand as claimed in claim 1, it is characterised in that: described mounting seat is provided with slide rail, described first folder
Arm includes the first location-plate, and described first location-plate is provided with the first slide block slided on slide rail, described second jig arm bag
Having included the second location-plate, described second location-plate is provided with the second slide block slided on slide rail.
6. a kind of mechanical hand as claimed in claim 1, it is characterised in that: described first jig arm includes the 3rd location-plate, institute
Stating the first tooth bar to be connected on the 3rd location-plate, described second jig arm includes the 4th location-plate, and described second tooth bar is connected to
On 4th location-plate.
7. a kind of mechanical hand as claimed in claim 6, it is characterised in that: the piston-rod end of described cylinder connects the 3rd location
On plate or the 4th location-plate.
A kind of mechanical hand the most as claimed in claims 6 or 7, it is characterised in that: offer on described 3rd location-plate for second
The first through hole that tooth bar passes, described 4th location-plate offers the second through hole passed for the first tooth bar.
9. mechanical hand as claimed in claim 1 a kind of, it is characterised in that: described mounting seat be provided with cover gear, first
Tooth bar and the housing of the second tooth bar, described cylinder is fixedly installed on outside housing by support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620562767.8U CN205799561U (en) | 2016-06-12 | 2016-06-12 | A kind of mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620562767.8U CN205799561U (en) | 2016-06-12 | 2016-06-12 | A kind of mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205799561U true CN205799561U (en) | 2016-12-14 |
Family
ID=58141766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620562767.8U Expired - Fee Related CN205799561U (en) | 2016-06-12 | 2016-06-12 | A kind of mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205799561U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695862A (en) * | 2016-12-21 | 2017-05-24 | 浙江今跃机械科技开发有限公司 | Integrated fixture and manipulator |
| CN107053225A (en) * | 2017-01-25 | 2017-08-18 | 东南大学 | A kind of clamping manipulator transmitted for middle-size and small-size object and its method |
| CN107161669A (en) * | 2017-05-15 | 2017-09-15 | 陈建 | The mobile clamping group of the double back ofs the body of aluminium electrolutic capacitor |
| CN107381422A (en) * | 2017-08-25 | 2017-11-24 | 金石机器人银川有限公司 | Suitable for the lifting mechanism of disk-like accessory |
| CN108033263A (en) * | 2018-01-11 | 2018-05-15 | 安徽纳赫智能科技有限公司 | A kind of servo feeding clamp system |
| CN108202317A (en) * | 2017-01-23 | 2018-06-26 | 英特科学公司 | The grip device of Linear Driving |
| CN108544525A (en) * | 2018-04-26 | 2018-09-18 | 阜阳盛东智能制造技术研发有限公司 | A kind of catching device applied to manipulator |
| CN111673103A (en) * | 2020-06-10 | 2020-09-18 | 山东戴森博特智能装备有限公司 | Double-acting rack and pinion centering chuck |
-
2016
- 2016-06-12 CN CN201620562767.8U patent/CN205799561U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695862A (en) * | 2016-12-21 | 2017-05-24 | 浙江今跃机械科技开发有限公司 | Integrated fixture and manipulator |
| CN108202317A (en) * | 2017-01-23 | 2018-06-26 | 英特科学公司 | The grip device of Linear Driving |
| CN108202317B (en) * | 2017-01-23 | 2021-11-05 | 英特科学公司 | Linearly driven gripping device |
| CN107053225A (en) * | 2017-01-25 | 2017-08-18 | 东南大学 | A kind of clamping manipulator transmitted for middle-size and small-size object and its method |
| CN107161669A (en) * | 2017-05-15 | 2017-09-15 | 陈建 | The mobile clamping group of the double back ofs the body of aluminium electrolutic capacitor |
| CN107381422A (en) * | 2017-08-25 | 2017-11-24 | 金石机器人银川有限公司 | Suitable for the lifting mechanism of disk-like accessory |
| CN107381422B (en) * | 2017-08-25 | 2023-08-01 | 金石机器人银川有限公司 | Lifting mechanism suitable for disc parts |
| CN108033263A (en) * | 2018-01-11 | 2018-05-15 | 安徽纳赫智能科技有限公司 | A kind of servo feeding clamp system |
| CN108544525A (en) * | 2018-04-26 | 2018-09-18 | 阜阳盛东智能制造技术研发有限公司 | A kind of catching device applied to manipulator |
| CN111673103A (en) * | 2020-06-10 | 2020-09-18 | 山东戴森博特智能装备有限公司 | Double-acting rack and pinion centering chuck |
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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: 20161214 Termination date: 20200612 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |