CN209304594U - Automatic mechanical hand - Google Patents
Automatic mechanical hand Download PDFInfo
- Publication number
- CN209304594U CN209304594U CN201822049142.3U CN201822049142U CN209304594U CN 209304594 U CN209304594 U CN 209304594U CN 201822049142 U CN201822049142 U CN 201822049142U CN 209304594 U CN209304594 U CN 209304594U
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- China
- Prior art keywords
- plate
- fixed
- crawl
- arc groove
- elastic
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- Expired - Fee Related
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Abstract
The utility model discloses a kind of automatic mechanical hands, it is related to mechanical grip technical field, its key points of the technical solution are that including rack, it is fixed on the telecontrol equipment on rack top and the grabbing device on telecontrol equipment top is set, the grabbing device includes the connecting plate for being fixed on telecontrol equipment bottom end, the actuator being fixed on connecting plate, drives the link block of movement, the crawl plate for being hinged on the articulated slab of link block two sides and being hinged on the articulated slab other end by actuator；The articulated shaft with connecting plate rotation connection is provided on crawl plate；Crawl plate side close to each other offers arc groove.Actuator movement drives link block rise and fall, thus drive and the hinged hinge plate motion of link block, hinge plate motion drives to be moved with the hinged crawl plate of articulated slab, so that two crawl plates are close to each other or separate；Arc groove can provide placement space for rod-like articles, increase the stability of crawl when crawl plate grabs rod-like articles.
Description
Technical field
The utility model relates to mechanical grip technical fields, more particularly, to a kind of automatic mechanical hand.
Background technique
In the hungry mechanical industry production of modernization, various automated machines largely substitute worker and go to complete under adverse circumstances
Work.Such as injection mold field, just the mold temperature after the completion of injection molding is higher, manually can not directly grab, at this time generally
It is worked using manipulator instead of worker.Referring to Fig. 1, a kind of rod-shaped moulding 5, including the body of rod 51 and head 52.Wherein, head 52
For final product, the body of rod 51 is the glue mouth condensate generated in injection moulding process.
In the prior art, Authorization Notice No. is that the Chinese utility model patent of CN204525508U discloses a kind of connecting rod knot
Structure formula catching robot, the cylinder fixed plate are mounted on mechanical arm, one end installation manipulator mounting blocks of mechanical arm,
Manipulator mounting plate, the cylinder are fixedly mounted on robot support bar for installation manipulator support rod on manipulator mounting blocks
It is mounted in air cylinder fixed plate, cylinder axis is mounted in cylinder, and handgrip drive rod is mounted on cylinder axis, and the manipulator drives
Dynamic connecting rod is mounted on manipulator mounting plate, and handgrip is mounted on robot drives connecting rod, the manipulator mounting plate it is upper
Setting crawl depth adjustment bolt, the robot drives connecting rod are mounted on manipulator mounting plate by pin shaft, manipulator
Drive link can rotate, and the manipulator mounting blocks are fixed on mechanical arm by screw, and the cylinder is logical
Fixed screw is crossed to be mounted in air cylinder fixed plate.
But this link mechanism formula catching robot is during use, since the bottom end of handgrip is plate structure,
During clamping to the body of rod 51, it is easy to appear the unstable situation of clamping, is unfavorable for the raising of manipulator crawl efficiency.
Utility model content
In view of the deficienciess of the prior art, the purpose of this utility model is to provide a kind of automatic mechanical hand, it can
Increase the stability clamped to rod-like articles when clamping rod-like articles.
To achieve the above object, the utility model provides following technical solution: a kind of automatic mechanical hand, including machine
Frame is fixed on the telecontrol equipment on rack top and the grabbing device on telecontrol equipment top is arranged in, and the grabbing device includes
It is fixed on the connecting plate of telecontrol equipment bottom end, the actuator being fixed on connecting plate, drives the link block moved, hinge by actuator
Connect link block two sides articulated slab and be hinged on the crawl plate of the articulated slab other end；It is provided on crawl plate and turns with connecting plate
The articulated shaft of dynamic connection；Crawl plate side close to each other offers arc groove.
By using above-mentioned technical proposal, actuator movement drives link block rise and fall, cuts with scissors to drive with link block
The hinge plate motion connect, hinge plate motion drives to be moved with the hinged crawl plate of articulated slab, so that two crawl plates are close to each other
Or it is separate；Arc groove can provide placement space when crawl plate grabs rod-like articles for rod-like articles, increase is grabbed
The stability taken.
The utility model is further arranged to: the arc groove is provided with elastic parts close to the side of another crawl plate.
By using above-mentioned technical proposal, elastic parts can will be located at the rod-like articles in arc groove and pop up arc groove,
It reduces after there is crawl plate away from each other, rod-like articles stay in the appearance of the situation in arc groove.
The utility model is further arranged to: the elastic parts includes elastic plate, the top and bottom end of the elastic plate
It is fixed with fixed block, the crawl plate offers the connecting hole and strip hole for fixed block connection close to the side of elastic plate.
By using above-mentioned technical proposal, elastic plate have certain elasticity and deformation quantity, when clamping plate to rod-like element into
When row clamping, rod-like element drives elastic plate compression；After crawl plate unclamps rod-like element away from each other, elastic component resets, and will be located at arc
Rod-like element ejection in shape slot.
The utility model is further arranged to: being additionally provided with what drive elastic plate was moved to separate arc groove direction in arc groove
Ejection assembly.
By using above-mentioned technical proposal, ejection assembly carries out auxiliary ejection, and reducing elastic component can not go out the case where return
It is existing.
The utility model is further arranged to: the ejection assembly includes being fixed on elastic plate close to the top of arc groove side
Ejecting plate, liftout plate are fixed with sliding bar far from the side of elastic plate；The insertion hole for sliding bar insertion is offered in arc groove, is inserted
Entering to be provided in hole drives sliding bar to the elastic component moved close to elastic plate direction.
By using above-mentioned technical proposal, after elastic component bending, liftout plate, liftout plate are pushed to the side close to arc groove
On sliding bar elastic component is compressed；After grabbing plate away from each other, sheet reset is ejected under the action of the elastic member, pushes bullet
Property plate, assistant spring plate are resetted.
The utility model is further arranged to: the liftout plate is fixed with parallel with sliding bar far from the side of elastic plate
Guide post is ejected, the guide pillar hole for offering on plate and passing through for ejection guide post is grabbed.
By using above-mentioned technical proposal, guide post increases the stability of liftout plate sliding so that liftout plate be merely able to along
It slides in the direction of guide post.
The utility model is further arranged to: the elastic plate is fixed with form friction pattern far from the side of arc groove.
By using above-mentioned technical proposal, form friction pattern increases crawl effect when crawl plate grabs rod-like element.
The utility model is further arranged to: the bottom end of the grabbing device is provided with collecting box.
By using above-mentioned technical proposal, collecting box is collected the rod-shaped moulding grabbed out out of injection molding machine, just
Collection after the completion of crawl.
In conclusion the advantageous effects of the utility model are as follows:
1. actuator movement drives link block rise and fall, thus drive and the hinged hinge plate motion of link block, hingedly
Plate movement drives to be moved with the hinged crawl plate of articulated slab, so that two crawl plates are close to each other or separate；Arc groove can
When crawl plate grabs rod-like articles, placement space is provided for rod-like articles, crawl can be increased when automatically grabbing
Stability；
2. elastic plate has certain elasticity and deformation quantity, when clamping plate clamps rod-like element, rod-like element is driven
Elastic plate compression；After crawl plate unclamps rod-like element away from each other, elastic component resets, and will be located at the rod-like element in arc groove and ejects；
3. guide post increases the stability of liftout plate sliding, so that liftout plate is merely able to slide along the direction of guide post.
Detailed description of the invention
Fig. 1 is the axonometric drawing of background technique；
Fig. 2 is the whole axonometric drawing of embodiment；
Fig. 3 is the axonometric drawing of telecontrol equipment；
Fig. 4 is the axonometric drawing of grabbing device；
Fig. 5 is the explosive view for grabbing plate；
Fig. 6 is the schematic diagram embodied inside arc groove 352.
In figure: 1, rack；2, telecontrol equipment；21, fixed plate；22, vertical cylinder；23, connection frame；231, vertical guide post；
24, sliding rack；241, horizontal guide post；25, sliding shoe；26, horizontal air cylinder；3, grabbing device；31, connecting plate；32, gas is grabbed
Cylinder；33, link block；34, articulated slab；35, plate is grabbed；351, articulated shaft；352, arc groove；353, elastic plate；3531, it rubs
Line；3532, fixed block；354, ejection assembly；3541, liftout plate；3542, sliding bar；3543, spring；3544, guide post is ejected；
355, strip hole；356, it is inserted into hole；357, guide pillar hole；358, connecting hole；4, collecting box；5, rod-shaped moulding；51, the body of rod；52,
Head.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
Embodiment: a kind of automatic mechanical hand, referring to fig. 2, including rack 1, the telecontrol equipment 2 that is fixed on 1 top of rack,
The grabbing device 3 of 2 bottom end of telecontrol equipment is set and the collecting box 4 of 3 bottom end of grabbing device is set.
Referring to Fig. 3, telecontrol equipment 2 include be fixed on the fixed plate 21 on 1 top of rack, cylinder body is fixed on 21 top of fixed plate
Vertical cylinder 22, be fixed on 22 bottom end of vertical cylinder connection frame 23, be fixed on 23 bottom end of connection frame sliding rack 24, in cunning
The sliding shoe 25 slided in moving frame 24 and the horizontal air cylinder 26 for driving sliding shoe 25 to slide.
The piston rod of vertical cylinder 22 is fixedly connected with connection frame 23, and the piston rod of vertical cylinder 22 stretches out or retract meeting
Drive the variation of position on connection frame 23 and 24 vertical direction of sliding rack.The top of connection frame 23 is fixed with vertical guide post 231, erects
Straight guide post 231 passes through fixed plate 21 and is slidably connected with fixed plate 21.The piston rod of horizontal air cylinder 26 stretches out or retracts energy
Enough drive the change of the position on sliding rack 24 of sliding shoe 25.It is further fixed on sliding rack 24 and is transported with the piston rod of horizontal air cylinder 26
The parallel horizontal guide post 241 in dynamic direction, horizontal guide post pass through sliding shoe 25 and are slidably connected with sliding shoe 25.
Referring to fig. 4, grabbing device 3 is fixed on connecting plate 31 including being fixed on connecting plate 31, the cylinder body of 25 bottom end of sliding shoe
On crawl cylinder 32, be fixed on crawl 32 piston-rod end of cylinder link block 33, be hinged on the hinged of 33 two sides of link block
Plate 34 and the crawl plate 35 for being hinged on 34 other end of articulated slab.The two of crawl cylinder 32 and link block 33 are arranged in connecting plate 31
The connecting plate 31 of wherein side (is hidden) by side in figure.
One end of articulated slab 34 and link block 33 are hinged, and the other end and crawl plate 35 are hinged.It is arranged on crawl plate 35 hinged
Spindle 351, the both ends of articulated shaft 351 and connecting plate 31 are rotatablely connected, and crawl plate 35 is turned with articulated shaft 351 for the center of circle
It is dynamic.The piston rod for grabbing cylinder 32 stretches out, and link block 33 is driven to move downward, the link block 33 of Xiang Yundong drive articulated slab 34 to
Lower movement, the articulated slab 34 moved downward drive crawl plate 35 and the hinged one end of articulated slab 34 to the direction far from link block 33
Rotation, thus move the other end for grabbing plate 35 to close to the direction of other side crawl plate 35, crawl plate 35 close to each other
The body of rod 51 being located between crawl plate 35 is subjected to crawl
Referring to figs. 5 and 6, crawl plate 35 side close to each other offers arc groove 352, and arc groove 352 is close to another
The side of crawl plate 35 is provided with elastic plate 353, and being internally provided with for arc groove 352 pushes elastic plate 353 to grab to close to another
The ejection assembly 354 for taking 35 direction of plate to move.The arc groove of crawl plate 35 can be spliced into be placed for rod-like articles to be captured
Circular trough.
Elastic plate 353 is provided with form friction pattern 3531 close to the surface of another crawl 35 side of plate.Elastic plate 353 is far from another
The side of crawl plate 35 is fixed with fixed block 3532, and fixed block 3532 is ladder-like, and the one end connecting with elastic plate 353 is small
One end of area；Fixed block 3532 is fixed on the top and bottom end of elastic plate 353.The top of crawl plate 35 offers strip hole
355, the bottom end of crawl plate 35 offers connecting hole 358.The cross section of strip hole 355 is step type, for being fixed on elastic plate 353
The fixed block 3532 on top slides；Connecting hole 358 is stepped hole, to be fixed on the fixed block 3532 of 353 bottom end of elastic plate into
Row is fixed.
Ejection assembly 354 include be fixed on elastic plate 353 close to 352 side of arc groove liftout plate 3541, be fixed on top
Sliding bar 3542 and with sliding bar 3542 parallel ejection guide post 3544 of the ejecting plate 3541 far from 353 one end of elastic plate.Crawl
The guide pillar hole 357 that ejection guide post passes through and the insertion hole 356 being inserted into for sliding bar 3542 are offered on plate 35.It is inserted into hole 356
It for blind hole, and is inserted into hole 356 and is provided with spring 3543, one end of spring 3543 is fixedly connected with the bottom end for being inserted into hole 356, separately
One end is abutted with sliding bar 3542.
Use process: when grabbing to rod-shaped object, arc groove 352 being moved at the position of rod-like articles, right
It is grabbed.During crawl, rod-shaped object can enter in arc groove 352 and bending elastic plate 353.Pass through arc
The elastic force that the placement space and elastic plate 353 that shape slot 352 provides provide increases the stability that crawl plate 35 clamps rod-like articles,
Improve the crawl efficiency of manipulator.
The embodiment of present embodiment is presently preferred embodiments of the present invention, not limits protection of the invention according to this
Range, therefore: the equivalence changes that all structures under this invention, shape, principle are done, should all be covered by protection scope of the present invention it
It is interior.
Claims (8)
1. a kind of automatic mechanical hand, including rack (1), the telecontrol equipment (2) and setting for being fixed on rack (1) top are being transported
The grabbing device (3) on dynamic device (2) top, it is characterised in that: the grabbing device (3) includes being fixed on telecontrol equipment (2) bottom
The connecting plate (31) at end, the actuator being fixed on connecting plate (31) drive the link block (33) of movement by actuator, are hinged on
The articulated slab (34) of link block (33) two sides and the crawl plate (35) for being hinged on articulated slab (34) other end；It grabs on plate (35)
It is provided with the articulated shaft (351) with connecting plate (31) rotation connection；Crawl plate (35) side close to each other offers arc
Shape slot (352).
2. automatic mechanical hand according to claim 1, it is characterised in that: the arc groove (352) is close to another crawl
The side of plate (35) is provided with elastic parts.
3. automatic mechanical hand according to claim 2, it is characterised in that: the elastic parts includes elastic plate (353),
The top and bottom end of the elastic plate (353) are fixed with fixed block (3532), and crawl plate (35) is close to elastic plate (353)
Side offers the connecting hole (358) and strip hole (355) for fixed block (3532) connection.
4. automatic mechanical hand according to claim 3, it is characterised in that: be additionally provided with drive in the arc groove (352)
The ejection assembly (354) that elastic plate (353) is moved to separate arc groove (352) direction.
5. automatic mechanical hand according to claim 4, it is characterised in that: the ejection assembly (354) includes being fixed on
The liftout plate (3541) of close arc groove (352) side of elastic plate (353), the one of liftout plate (3541) separate elastic plate (353)
Side is fixed with sliding bar (3542)；The insertion hole (356) for sliding bar (3542) insertion, insertion are offered in arc groove (352)
It is provided in hole (356) and drives sliding bar (3542) to the elastic component moved close to elastic plate (353) direction.
6. automatic mechanical hand according to claim 5, it is characterised in that: the liftout plate (3541) is far from elastic plate
(353) side is fixed with the ejection guide post (3544) parallel with sliding bar (3542), is offered in crawl plate (35) for ejection
The guide pillar hole (357) that guide post (3544) passes through.
7. automatic mechanical hand according to claim 3, it is characterised in that: the elastic plate (353) is far from arc groove
(352) side is fixed with form friction pattern (3531).
8. automatic mechanical hand according to claim 1, it is characterised in that: the bottom end of the grabbing device (3) is provided with
Collecting box (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822049142.3U CN209304594U (en) | 2018-12-06 | 2018-12-06 | Automatic mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822049142.3U CN209304594U (en) | 2018-12-06 | 2018-12-06 | Automatic mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209304594U true CN209304594U (en) | 2019-08-27 |
Family
ID=67676048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822049142.3U Expired - Fee Related CN209304594U (en) | 2018-12-06 | 2018-12-06 | Automatic mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209304594U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111791258A (en) * | 2020-08-18 | 2020-10-20 | 张运杰 | Automatic snatch manipulator and automatic feeding system of automation line |
| CN111791256A (en) * | 2020-08-18 | 2020-10-20 | 张运杰 | Automatic change manipulator and automatic grasping system |
| CN111906579A (en) * | 2020-08-07 | 2020-11-10 | 定远特尔润滚子有限公司 | Automatic clamping and feeding device for milling of cylindrical roller |
| CN112677176A (en) * | 2020-12-09 | 2021-04-20 | 丁翠芳 | Auxiliary equipment for machining workshop of irregular cylindrical part |
-
2018
- 2018-12-06 CN CN201822049142.3U patent/CN209304594U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111906579A (en) * | 2020-08-07 | 2020-11-10 | 定远特尔润滚子有限公司 | Automatic clamping and feeding device for milling of cylindrical roller |
| CN111791258A (en) * | 2020-08-18 | 2020-10-20 | 张运杰 | Automatic snatch manipulator and automatic feeding system of automation line |
| CN111791256A (en) * | 2020-08-18 | 2020-10-20 | 张运杰 | Automatic change manipulator and automatic grasping system |
| CN111791258B (en) * | 2020-08-18 | 2021-08-10 | 汪健捷 | Automatic snatch manipulator and automatic feeding system of automation line |
| CN111791256B (en) * | 2020-08-18 | 2021-09-28 | 江门喜智科技有限公司 | Automatic change manipulator and automatic grasping system |
| CN112677176A (en) * | 2020-12-09 | 2021-04-20 | 丁翠芳 | Auxiliary equipment for machining workshop of irregular cylindrical part |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190827 Termination date: 20211206 |