Hydraulic swing cylinder driven clamping hand
A technology of hydraulic swing and gripping hand, applied in the direction of chuck, manipulator, program-controlled manipulator, etc., can solve the problems of difficult control operation, bulky and heavy device, few gripping contact points, etc., and achieves high transmission efficiency, wide application, Reliable effect
Active Publication Date: 2016-03-30
TIANJIN UNIV
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Problems solved by technology
The manipulator has a measuring circuit for measuring and feeding back the size and shape information of the measured object, and it is equipped with a positioning and locking device to ensure reliable grasping; however, due to the mechanical structure imitating the human hand, the structure is relatively complicated, and the control operation is somewhat difficult. difficulty
[0005] Chinese patent "201210397985.7" discloses an adjustable clamping mobile manipulator. The clamping manipulator includes a workbench, an upper manipulator, and a lower manipulator. Relatively open or fold, so as to realize the clamping and releasing of objects, the upper and lower manipulator sliders have positioning blocks; the closing stroke of the manipulator can be adjusted by changing the size of the positioning blocks, so as to achieve the purpose of clamping products of different sizes, and the replacement time short, but the device is bulky and cumbersome, and can only achieve clamping movement in the horizontal direction, with a single movement
[0006] Machine Tools and Hydraulics Volume 38 Issue 18 September 2010 published the article "Design of Hydraulic Manipulator for Loading and Unloading Square Objects". The hydraulically driven manipulator in this device uses two parallel planes for moving the hand and fixing the rubber pad. As the clamping surface, the hydraulic cylinder is used to push the hand grip to slide on the slideways at both ends of the support frame to realize the relative distance change between the hand grip and the rubber pad to complete the clamping of different workpieces. There are fewer clamping contact points and the clamping is unreliable.
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[0026] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0027] As shown in the accompanying drawings, the hydraulic swing cylinder-driven clamping hand of the present invention includes a hydraulic swing cylinder that provides power for the clamping hand and a hand for grabbing and holding the workpiece. The hydraulic swing cylinder is A hole output rack and pinion swing oil cylinder, the hand includes a gear shaft with one end connected to the hole output gear of the hydraulic swing cylinder through a key, and the other end of the gear shaft is connected with the main gear 1 through a key. The outer circumference of the main gear is evenly distributed with at least three pinion gears 6 engaged with the main gear, and each pinion gear 6 is connected with a connecting body 5 coaxially arranged with the pinion gear. The body is preferably a cylinder. At least three pinions 6 are respectively rotata...
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The invention discloses a driving-type clamping grasping hand with a hydraulic swinging cylinder. The driving-type clamping grasping hand with the hydraulic swinging cylinder comprises the hydraulic swinging cylinder and a hand part. The hand part comprises a gear shaft, wherein one end of the gear shaft is connected with a hole output gear of the hydraulic swinging cylinder, a main gear is connected with the other end of the gear shaft, at least three pinions meshed with the main gear are evenly distributed on the periphery of the main gear, each pinion is connected with a connecting body coaxial with the corresponding pinion, and the pinions are connected with the same finger base in a rotary mode. The gear shaft penetrates through a rolling ball bearing on the finger base, the gear shaft and the rolling ball bearing are in interference fit, each connecting body is fixedly connected with one end of a finger joint, a semi-cylindrical clamping part is installed at the other end of each finger joint, the other end of each finger joint is tangent with the semi-cylindrical outer surface of the corresponding clamping part, and the connecting lines of the tangent positions of all the clamping parts and the corresponding finger joints are all on the same circle. The driving-type clamping grasping hand with the hydraulic swinging cylinder is reliable in clamping.
Description
technical field [0001] The invention relates to a hydraulic-mechanical clamping device, which is mainly used for assisting manipulators in clamping and transporting workpieces with inner holes. Background technique [0002] In industrial automation production, whether it is a stand-alone machine tool or a combined machine tool, as well as an automatic production line, manipulators are used to complete the pick-and-place of workpieces. The manipulator is an automatic device that imitates human hand movements and realizes automatic grasping, handling and operation according to given programs, trajectories and requirements. Especially in harsh environments such as high temperature, high pressure, dusty, flammable, explosive, and radioactive, as well as in heavy, monotonous, and frequent operations, it replaces human operations, so it is increasingly widely used. Compared with manpower, industrial manipulators have more obvious work efficiency and anti-fatigue ability. The accu...
Claims
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IPC IPC(8): B25J9/14B25J15/10
Inventor肖聚亮韦炳旭楫骏王国栋
OwnerTIANJIN UNIV