High-reliability multiple-force clamping manipulator mechanism

Abstract

The utility model discloses a high-reliability double-force clamping manipulator mechanism which comprises a cylinder body provided with an inner cavity, two finger clamping blocks symmetrically arranged at the top of the cylinder body, a piston assembly arranged in the inner cavity of the cylinder body, a piston rod with the bottom end connected with the piston assembly, and a wedge-shaped driving block connected to the top end of the piston rod and located between the two finger clamping blocks. A wedge-shaped structure is formed between the wedge-shaped driving block and each finger clamping block; an elastic piece is sleeved on the piston rod between the top of the inner cavity of the cylinder body and the piston assembly; the cross section of each finger clamping block is of an inverted-T-shaped structure, and inverted-T-shaped sliding grooves matched with the two finger clamping blocks are formed in the top of the cylinder body. When the piston rod drives the wedge-shaped driving block to move upwards, the two finger clamping blocks slide through the inverted-T-shaped sliding grooves so as to be away from each other. When the piston rod drives the wedge-shaped driving block to move downwards, the two finger clamping blocks slide through the inverted-T-shaped sliding grooves to get close to each other. The clamping device is large in clamping force, high in stability and high in reliability, high precision is guaranteed, and meanwhile it is guaranteed that a high load can be borne.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic technology field especially relates to a high reliability mechanical hand mechanism of force multiplication clamping. BACKGROUND

[0002] With the high -speed development of today's science and technology, production level unceasing promotion, automation technology is increasingly widely used in various industries, and higher requirements are put forward for automation equipment. Products gradually develop towards miniaturization, fine direction, and automation production line is also constantly shrinking volume, and is advancing towards the goal of high integration and high precision. This development trend brings new challenges to various non-standard pneumatic products.

[0003] Mechanical hand mechanism is the automatic device that simulates human hand action, and realizes automatic grabbing, carrying and operation according to given program. The existing mechanical hand mechanism has some limitations: 1) when clamping workpieces, the clamping force is not enough, and the workpieces are prone to fall off; 2) the clamping precision is not enough, so that various workpieces cannot be accurately grabbed; 3) the structure is not compact, so that the interference profile is large during carrying, and collision with other equipment or workpieces is prone to occur. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a high reliability mechanical hand mechanism of force multiplication clamping, which has large clamping force, high stability and high reliability, and can guarantee high precision and high load bearing.

[0005] To achieve the above-mentioned purpose, the following technical scheme is adopted:

[0006] A high reliability mechanical hand mechanism of force multiplication clamping, comprising a cylinder body provided with an inner cavity, two finger clamping blocks symmetrically arranged at the top of the cylinder body, a piston assembly arranged in the inner cavity of the cylinder body, a piston rod connected to the piston assembly at the bottom end, and a wedge-shaped driving block connected to the top end of the piston rod and located between the two finger clamping blocks; a wedge-shaped structure is formed between the wedge-shaped driving block and each finger clamping block; an elastic member is sleeved on the piston rod between the top of the inner cavity of the cylinder body and the piston assembly; the cross section of the finger clamping block is in inverted T-shaped structure, and the top of the cylinder body is provided with inverted T-shaped sliding grooves matched with the two finger clamping blocks; when the piston rod drives the wedge-shaped driving block to move upward, the two finger clamping blocks slide through the inverted T-shaped sliding grooves to move away from each other; when the piston rod drives the wedge-shaped driving block to move downward, the two finger clamping blocks slide through the inverted T-shaped sliding grooves to move close to each other.

[0007] Preferably, in the wedge-shaped structure, a dovetail guide rail is arranged on the wedge-shaped driving block, and a dovetail sliding groove matched with the dovetail guide rail is arranged on the finger clamping block.

[0008] Preferably, a dust cover is arranged at the middle top of the length direction of the inverted T-shaped sliding groove, and the dust cover is located above the two finger clamping blocks.

[0009] Preferably, the inverted T-shaped sliding groove is opened through the top of the cylinder body.

[0010] Preferably, the bottom of the inverted T-shaped sliding groove is provided with a lubricant groove corresponding to each finger clamping block, and the lubricant groove is opened through the end of the cylinder body.

[0011] With the above scheme, the beneficial effects of the utility model are:

[0012] The utility model discloses a high reliability force multiplication clamping's mechanical hand mechanism, 1) set up the elastic piece between the top of the cylinder body inner chamber and piston assembly, when clamping work piece, the elastic piece is given secondary force to two finger clamping blocks to each other close, to increase the clamping force of work piece, 2) set up the finger clamping block and inverted T-shaped sliding groove of inverted T-shaped structure, increase the support area, can absorb the greater force and moment, can accurately snatch various work pieces, and the stability is strong, and the reliability is high, 3) the wedge structure design between wedge driving block and finger clamping block, realizes high -power delivery and synchronous stable snatch work piece, guarantees high precision also guarantees the higher load that can bear, 4) compact overall structure can keep the interference profile in the carrying smaller. BRIEF DESCRIPTION OF DRAWINGS

[0013] Fig. 1 It is the perspective view of the utility model;

[0014] Fig. 2 It is the sectional view of the utility model;

[0015] Fig. 3 It is the internal perspective view of the utility model;

[0016] Among them, the drawing mark explanation is:

[0017] 1 - cylinder, 2 - finger clamping block,

[0018] 3 - piston assembly, 4 - piston rod,

[0019] 5 - wedge driving block, 6 - elastic piece,

[0020] 7 - inverted T-shaped sliding groove, 8 - dovetail guide rail,

[0021] 9 - dust cover, 10 - lubricant groove. DETAILED DESCRIPTION

[0022] The utility model will be further explained in detail in connection with the drawings and examples. It can be understood that the specific examples described here are only used to explain the utility model, and not limit the utility model. In addition, it needs to be explained that, in order to facilitate the description, only the part relevant to the utility model is shown in the drawing, not all structures.

[0023] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can include direct contact between the first and second features, or indirect contact between the first and second features through another feature therebetween. Moreover, the first feature "on", "above" and "on top of" the second feature includes the first feature directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "underneath" the second feature includes the first feature directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0024] In the description of the present application, the terms "up", "down", "left", "right" and other orientation or position relationships are based on the orientation or position relationships shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in description and have no special meaning.

[0025] Referring to Figs. 1 to 3 The utility model provides a kind of high reliability force multiplication clamping mechanical hand mechanism, including the cylinder body 1 being equipped with inner cavity, two finger clamping blocks 2 being symmetrically arranged in the top of cylinder body 1, piston assembly 3 being arranged in the inner cavity of cylinder body 1, piston rod 4 being connected with piston assembly 3 in bottom end, and wedge driving block 5 being connected in the top of piston rod 4 and being located between two finger clamping blocks 2;A wedge structure is formed between wedge driving block 5 and each finger clamping block 2;The elastic member 6 is sleeved on piston rod 4 between the top of the inner cavity of cylinder body 1 and piston assembly 3;By setting elastic member 6, when piston rod 4 drives wedge driving block 5 to move downward, the elastic force of elastic member 6 is pressed to piston assembly 3, and then there is a downward tension to piston rod 4 and wedge driving block 5, so that two finger clamping blocks 2 are mutually close to give secondary force, i.e. "force multiplication" output clamping, to increase the clamping force of workpiece, so that two finger clamping blocks 2 are in clamping state.

[0026] The utility model provides a kind of high reliability force multiplication clamping mechanical hand mechanism, mainly applied to the manufacturing industry of mechanical equipment, assembly and handling industry and the clean and slightly dusty environment in automobile industry.When cylinder promotes piston assembly 3 and drives piston rod 4 to move up and down, two finger clamping blocks 2 are in open, clamping action. Please continue to refer to Fig. 1 The top of finger clamping block 2 is provided with mounting hole and positioning hole, and in actual application, different size finger parts can be installed on the top of finger clamping block 2, so as to play the role of clamping workpiece.

[0027] In addition, the cross section of the finger clamping block 2 is in inverted T-shaped structure, the top of the cylinder body 1 is provided with inverted T-shaped sliding grooves 7 matched with the two finger clamping blocks 2; the inverted T-shaped sliding grooves 7 are provided through the top of the cylinder body 1, the middle bottom of the length direction of the inverted T-shaped sliding grooves 7 is provided with a movable hole communicated to the inner cavity of the cylinder body 1, and the piston rod 4 is arranged through the movable hole. Since the finger clamping block 2 needs to bear the force from top to bottom when in use, the friction coefficient of the friction surface is ensured, the finger clamping block 2 is arranged in inverted T-shaped structure according to the principle of triangular support, the two ends of the cross section bottom of the finger clamping block 2 play a supporting effect, the supporting area is increased, and large force and torque can be absorbed. The wedge-shaped structure design between the wedge-shaped driving block 5 and the finger clamping block 2, and the cooperation of the inverted T-shaped finger clamping block 2 and the inverted T-shaped sliding groove 7 can make the mechanical hand structure have stronger stability and larger output.

[0028] When the piston rod 4 drives the wedge-shaped driving block 5 to move upwards, the two finger clamping blocks 2 move away from each other through the inverted T-shaped sliding groove 7; when the piston rod 4 drives the wedge-shaped driving block 5 to move downwards, the two finger clamping blocks 2 move towards each other through the inverted T-shaped sliding groove 7. In the wedge-shaped structure, the wedge-shaped driving block 5 is provided with a dovetail guide rail 8, and the finger clamping block 2 is provided with a dovetail sliding groove matched with the dovetail guide rail 8. By arranging the dovetail guide rail 8 and the dovetail sliding groove cooperation structure, when the wedge-shaped driving block 5 retreats (that is, when the two finger clamping blocks 2 move towards each other), the dovetail guide rail 8 hooks the dovetail sliding groove to drive the two finger clamping blocks 2 to move towards each other.

[0029] Since the wedge-shaped driving block 5 is located between the two finger clamping blocks 2, and a gap is left after the two finger clamping blocks 2 move away from each other, a dust cover 9 is arranged at the middle top of the length direction of the inverted T-shaped sliding groove 7, and the dust cover 9 is located above the two finger clamping blocks 2, so as to prevent dust and other foreign matters from falling into the inside of the mechanical hand structure.

[0030] During the clamping process, due to the friction between the finger clamping block 2 and the inverted T-shaped sliding groove 7, a lubricant needs to be applied to the friction surface. After being used for a period of time, the side of the finger clamping block 2 can be added with the lubricant from top to bottom, but it is difficult to add the lubricant to the bottom of the finger clamping block 2. Therefore, a lubricant groove 10 is arranged at the bottom of the inverted T-shaped sliding groove 7 corresponding to each finger clamping block 2, and the lubricant groove 10 is provided through the end of the cylinder body 1, so as to add the lubricant to the bottom of the finger clamping block 2.

[0031] The above are only preferred embodiments of the present application, and are not used to limit the present application, and any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. Apparently, the above embodiments of the present application are only examples for clearly explaining the present application, and are not used to limit the implementation manner of the present application. For ordinary skilled in the art, various obvious changes, re-adjustment and replacement can be made without departing from the protection scope of the present application. Here, it is not necessary and also impossible to enumerate all the implementation manners. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A highly reliable force-multiplying clamping robotic arm mechanism, characterized in that, The device includes a cylinder with an inner cavity, two finger gripping blocks symmetrically positioned at the top of the cylinder, a piston assembly located within the inner cavity of the cylinder, a piston rod connected to the piston assembly at its bottom end, and a wedge-shaped drive block connected to the top of the piston rod and positioned between the two finger gripping blocks. A wedge-shaped structure is formed between the wedge-shaped drive block and each finger gripping block. An elastic element is fitted onto the piston rod between the top of the inner cavity of the cylinder and the piston assembly. The cross-section of each finger gripping block is inverted T-shaped, and the top of the cylinder has an inverted T-shaped groove that matches the two finger gripping blocks. When the piston rod drives the wedge-shaped drive block upwards, the two finger gripping blocks slide along the inverted T-shaped groove to move away from each other. When the piston rod drives the wedge-shaped drive block downwards, the two finger gripping blocks slide along the inverted T-shaped groove to move closer to each other.

2. The high-reliability force-multiplying clamping manipulator mechanism according to claim 1, characterized in that, In the wedge structure, the wedge drive block is provided with a dovetail guide rail, and the finger gripper block is provided with a dovetail groove that matches the dovetail guide rail.

3. The high-reliability force-multiplying clamping manipulator mechanism according to claim 1, characterized in that, The inverted T-shaped slide is provided with a dust cover at the top center along its length, and the dust cover is located above the two finger gripping blocks.

4. The high-reliability force-multiplying clamping manipulator mechanism according to claim 1, characterized in that, The inverted T-shaped groove is opened at both ends of the top of the cylinder.

5. The high-reliability force-multiplying clamping manipulator mechanism according to claim 4, characterized in that, The bottom of the inverted T-shaped slide groove has a lubricant groove corresponding to each finger gripping block, and the lubricant groove extends through to the end of the cylinder.

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